commit 77bd2c61a9e414f8dcda4d44bcfbfe18cfdb37fc
Author: skenneweg <skenneweg@techfak.uni-bielefeld.de>
Date:   Thu Jul 16 23:57:30 2020 +0200

    Added functions to the documentation

diff --git a/doc/classdiagrams/overview.svg b/doc/classdiagrams/overview.svg
index b7394df..1b68289 100644
--- a/doc/classdiagrams/overview.svg
+++ b/doc/classdiagrams/overview.svg
@@ -1,198 +1,320 @@
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-class urt_usefulness_f--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="60.8047" id="urt_usefulness_f" style="stroke: #A80036; stroke-width: 1.5;" width="334" x="6933.0878" y="1028.8594"/><ellipse cx="7044.8378" cy="1044.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7049.0722,1040.625 L7043.7909,1040.625 L7043.7909,1043.2969 L7048.5878,1043.2969 L7048.5878,1045.4531 L7043.7909,1045.4531 L7043.7909,1050.8594 L7041.3534,1050.8594 L7041.3534,1038.4688 L7049.0722,1038.4688 L7049.0722,1040.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="7065.3378" y="1049.0137">urt_usefulness_f</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6934.0878" x2="7266.0878" y1="1060.8594" y2="1060.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6934.0878" x2="7266.0878" y1="1068.8594" y2="1068.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="322" x="6939.0878" y="1083.0698">urt_usefulness_f (dt : urt_delay_t, params : void*) : float</text><!--MD5=[3677786d1f00795918091b0110bfa4af]
-class urt_osTime_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="86.4141" id="urt_osTime_t" style="stroke: #A80036; stroke-width: 1.5;" width="385" x="5682.5878" y="1016.3594"/><ellipse cx="5831.3378" cy="1032.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5832.1816,1039.1094 L5829.7284,1039.1094 L5829.7284,1028.8594 L5826.5878,1028.8594 L5826.5878,1026.7188 L5835.3222,1026.7188 L5835.3222,1028.8594 L5832.1816,1028.8594 L5832.1816,1039.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="5851.8378" y="1036.5137">urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5683.5878" x2="6066.5878" y1="1048.3594" y2="1048.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5683.5878" x2="6066.5878" y1="1056.3594" y2="1056.3594"/><ellipse cx="5693.5878" cy="1067.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="231" x="5702.5878" y="1070.5698">urtTime2Us (t : urt_osTime_t*) : uint64_t</text><ellipse cx="5693.5878" cy="1080.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="5702.5878" y="1083.3745">urtTimeNow (void) : urt_osTime_t</text><ellipse cx="5693.5878" cy="1092.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="359" x="5702.5878" y="1096.1792">urtTimeAddUs (time : urt_osTime_t*, offset : urt_delay_t) : void</text><!--MD5=[532279a7a1cac9af7f32856ca2ae6b9b]
-class urt_osMutex_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="99.2188" id="urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.5;" width="298" x="4604.0878" y="1009.8594"/><ellipse cx="4705.3378" cy="1025.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4706.1816,1032.6094 L4703.7284,1032.6094 L4703.7284,1022.3594 L4700.5878,1022.3594 L4700.5878,1020.2188 L4709.3222,1020.2188 L4709.3222,1022.3594 L4706.1816,1022.3594 L4706.1816,1032.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="87" x="4725.8378" y="1030.0137">urt_osMutex_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4605.0878" x2="4901.0878" y1="1041.8594" y2="1041.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4605.0878" x2="4901.0878" y1="1049.8594" y2="1049.8594"/><ellipse cx="4615.0878" cy="1060.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="245" x="4624.0878" y="1064.0698">urtMutexInit (mutex : urt_osMutex_t*) : void</text><ellipse cx="4615.0878" cy="1073.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="253" x="4624.0878" y="1076.8745">urtMutexLock (mutex : urt_osMutex_t*) : void</text><ellipse cx="4615.0878" cy="1086.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="4624.0878" y="1089.6792">urtMutexTryLock (mutex : urt_osMutex_t*) : bool</text><ellipse cx="4615.0878" cy="1099.2734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="4624.0878" y="1102.4839">urtMutexUnlock (mutex : urt_osMutex_t*) : void</text><!--MD5=[52fa11869cb40c93fa7702378ddd839e]
-class urt_osCondvarWaitStatus_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="86.4141" id="urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.5;" width="270" x="5157.0878" y="1332.8594"/><ellipse cx="5203.3378" cy="1348.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5207.4472,1354.8594 L5199.7284,1354.8594 L5199.7284,1342.4688 L5207.4472,1342.4688 L5207.4472,1344.625 L5202.1816,1344.625 L5202.1816,1347.2969 L5206.9472,1347.2969 L5206.9472,1349.4531 L5202.1816,1349.4531 L5202.1816,1352.7031 L5207.4472,1352.7031 L5207.4472,1354.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="169" x="5223.8378" y="1353.0137">urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5158.0878" x2="5426.0878" y1="1364.8594" y2="1364.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="5163.0878" y="1379.0698">URT_CONDVAR_WAITSTATUS_SIGNAL = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="5163.0878" y="1391.8745">URT_CONDVAR_WAITSTATUS_BROADCAST = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="239" x="5163.0878" y="1404.6792">URT_CONDVAR_WAITSTATUS_TIMEOUT = 0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5158.0878" x2="5426.0878" y1="1411.2734" y2="1411.2734"/><!--MD5=[004fc5dee471033e8e4138c1c73f0692]
-class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="137.6328" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="710" x="4937.0878" y="990.3594"/><ellipse cx="5237.3378" cy="1006.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5238.1816,1013.1094 L5235.7284,1013.1094 L5235.7284,1002.8594 L5232.5878,1002.8594 L5232.5878,1000.7188 L5241.3222,1000.7188 L5241.3222,1002.8594 L5238.1816,1002.8594 L5238.1816,1013.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="5257.8378" y="1010.5137">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4938.0878" x2="5646.0878" y1="1022.3594" y2="1022.3594"/><ellipse cx="4948.0878" cy="1033.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="283" x="4957.0878" y="1036.5698">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4948.0878" cy="1046.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="301" x="4957.0878" y="1049.3745">urtCondvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4948.0878" cy="1058.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="324" x="4957.0878" y="1062.1792">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4948.0878" cy="1088.5781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="559" x="4957.0878" y="1091.7886">urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*) : urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4938.0878" x2="5163.5878" y1="1075.1758" y2="1075.1758"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="257" x="5163.5878" y="1078.4839">URT_CFG_OSAL_CONDVAR_TIMEOUT == false</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5420.5878" x2="5646.0878" y1="1075.1758" y2="1075.1758"/><ellipse cx="4948.0878" cy="1118.1875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="684" x="4957.0878" y="1121.3979">urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4938.0878" x2="5166.0878" y1="1104.7852" y2="1104.7852"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="252" x="5166.0878" y="1108.0933">URT_CFG_OSAL_CONDVAR_TIMEOUT == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5418.0878" x2="5646.0878" y1="1104.7852" y2="1104.7852"/><!--MD5=[93799a03260ba286abda700174f4f205]
-class urt_osTimerCallback_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="4057.0878" y="1345.3594"/><ellipse cx="4127.8378" cy="1361.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4128.6815,1368.1094 L4126.2284,1368.1094 L4126.2284,1357.8594 L4123.0878,1357.8594 L4123.0878,1355.7188 L4131.8222,1355.7188 L4131.8222,1357.8594 L4128.6815,1357.8594 L4128.6815,1368.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="4148.3378" y="1365.5137">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4058.0878" x2="4342.0878" y1="1377.3594" y2="1377.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4058.0878" x2="4342.0878" y1="1385.3594" y2="1385.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="4063.0878" y="1399.5698">urt_osTimerCallback_t (parameter : void*) : void</text><!--MD5=[0b340d7b925b1eab6a1b7e084f68a7c2]
-class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="112.0234" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="737" x="3831.5878" y="1003.3594"/><ellipse cx="4153.8378" cy="1019.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4154.6815,1026.1094 L4152.2284,1026.1094 L4152.2284,1015.8594 L4149.0878,1015.8594 L4149.0878,1013.7188 L4157.8222,1013.7188 L4157.8222,1015.8594 L4154.6815,1015.8594 L4154.6815,1026.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="4174.3378" y="1023.5137">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3832.5878" x2="4567.5878" y1="1035.3594" y2="1035.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3832.5878" x2="4567.5878" y1="1043.3594" y2="1043.3594"/><ellipse cx="3842.5878" cy="1054.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="3851.5878" y="1057.5698">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="3842.5878" cy="1067.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="660" x="3851.5878" y="1070.3745">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void</text><ellipse cx="3842.5878" cy="1079.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="711" x="3851.5878" y="1083.1792">urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void</text><ellipse cx="3842.5878" cy="1092.7734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="255" x="3851.5878" y="1095.9839">urtTimerReset (timer : urt_osTimer_t*) : void</text><ellipse cx="3842.5878" cy="1105.5781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3851.5878" y="1108.7886">urtTimerIsArmed (timer : urt_osTimer_t*) : bool</text><!--MD5=[86c16d91227b9a9ec3b6b9b0285de4e9]
-class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="150.4375" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="197" x="3332.5878" y="1300.8594"/><ellipse cx="3368.7378" cy="1316.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3369.5816,1323.6094 L3367.1284,1323.6094 L3367.1284,1313.3594 L3363.9878,1313.3594 L3363.9878,1311.2188 L3372.7222,1311.2188 L3372.7222,1313.3594 L3369.5816,1313.3594 L3369.5816,1323.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="3387.4378" y="1321.0137">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3333.5878" x2="3528.5878" y1="1332.8594" y2="1332.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="3338.5878" y="1347.0698">URT_THREAD_PRIO_LOW_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="163" x="3338.5878" y="1359.8745">URT_THREAD_PRIO_LOW_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="3338.5878" y="1372.6792">URT_THREAD_PRIO_NORMAL_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="3338.5878" y="1385.4839">URT_THREAD_PRIO_NORMAL_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="3338.5878" y="1398.2886">URT_THREAD_PRIO_HIGH_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="3338.5878" y="1411.0933">URT_THREAD_PRIO_HIGH_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="3338.5878" y="1423.8979">URT_THREAD_PRIO_RT_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="3338.5878" y="1436.7026">URT_THREAD_PRIO_RT_MAX</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3333.5878" x2="3528.5878" y1="1443.2969" y2="1443.2969"/><!--MD5=[69d8aab9aa387a2f5052ea3da80e80ea]
-class urt_osThreadFunction_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="60.8047" id="urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="2784.0878" y="1345.3594"/><ellipse cx="2831.8378" cy="1361.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2832.6816,1368.1094 L2830.2284,1368.1094 L2830.2284,1357.8594 L2827.0878,1357.8594 L2827.0878,1355.7188 L2835.8222,1355.7188 L2835.8222,1357.8594 L2832.6816,1357.8594 L2832.6816,1368.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="2852.3378" y="1365.5137">urt_osThreadFunction_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2785.0878" x2="3035.0878" y1="1377.3594" y2="1377.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2785.0878" x2="3035.0878" y1="1385.3594" y2="1385.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="2790.0878" y="1399.5698">urt_osThreadFunction_t (arg : void*) : void</text><!--MD5=[ab5f611d45c3fa10609c33f780d8c3e1]
-class urt_osThreadTerminateSignal_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="73.6094" id="urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.5;" width="242" x="3565.0878" y="1338.8594"/><ellipse cx="3586.8378" cy="1354.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3590.9472,1360.8594 L3583.2284,1360.8594 L3583.2284,1348.4688 L3590.9472,1348.4688 L3590.9472,1350.625 L3585.6816,1350.625 L3585.6816,1353.2969 L3590.4472,1353.2969 L3590.4472,1355.4531 L3585.6816,1355.4531 L3585.6816,1358.7031 L3590.9472,1358.7031 L3590.9472,1360.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="3602.3378" y="1359.0137">urt_osThreadTerminateSignal_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3566.0878" x2="3806.0878" y1="1370.8594" y2="1370.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="3571.0878" y="1385.0698">URT_THREAD_TERMINATE_REQUEST = 15</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="3571.0878" y="1397.8745">URT_THREAD_TERMINATE_KILL = 9</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3566.0878" x2="3806.0878" y1="1404.4688" y2="1404.4688"/><!--MD5=[47d14ad2c233fae1b32b8d0a283e820a]
-class urt_osThreadState_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="137.6328" id="urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="3071.0878" y="1306.8594"/><ellipse cx="3115.8378" cy="1322.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3119.9472,1328.8594 L3112.2284,1328.8594 L3112.2284,1316.4688 L3119.9472,1316.4688 L3119.9472,1318.625 L3114.6816,1318.625 L3114.6816,1321.2969 L3119.4472,1321.2969 L3119.4472,1323.4531 L3114.6816,1323.4531 L3114.6816,1326.7031 L3119.9472,1326.7031 L3119.9472,1328.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="128" x="3136.3378" y="1327.0137">urt_osThreadState_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3072.0878" x2="3296.0878" y1="1338.8594" y2="1338.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="3077.0878" y="1353.0698">URT_THREAD_STATE_INACTIVE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="3077.0878" y="1365.8745">URT_THREAD_STATE_RUNNING = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="3077.0878" y="1378.6792">URT_THREAD_STATE_READY = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="3077.0878" y="1391.4839">URT_THREAD_STATE_SLEEPING = 3</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="3077.0878" y="1404.2886">URT_THREAD_STATE_SUSPENDED = 4</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="3077.0878" y="1417.0933">URT_THREAD_STATE_WAITING = 5</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="214" x="3077.0878" y="1429.8979">URT_THREAD_STATE_TERMINATED = 6</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3072.0878" x2="3296.0878" y1="1436.4922" y2="1436.4922"/><!--MD5=[0a16224ede9ffa9bb2d34e085a076e6d]
-class urt_osThread_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="363.3125" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="778" x="3018.0878" y="877.8594"/><ellipse cx="3355.8378" cy="893.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3356.6816,900.6094 L3354.2284,900.6094 L3354.2284,890.3594 L3351.0878,890.3594 L3351.0878,888.2188 L3359.8222,888.2188 L3359.8222,890.3594 L3356.6816,890.3594 L3356.6816,900.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="3376.3378" y="898.0137">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3019.0878" x2="3795.0878" y1="909.8594" y2="909.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="3024.0878" y="924.0698">URT_THREAD_SLEEP_MAX : float</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="3024.0878" y="936.8745">URT_THREAD_SSLEP_MAX : unsigned int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="3024.0878" y="949.6792">URT_THREAD_MSLEEP_MAX : unsigned int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="3024.0878" y="962.4839">URT_THREAD_USLEEP_MAX : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="3019.0878" x2="3795.0878" y1="969.0781" y2="969.0781"/><ellipse cx="3029.0878" cy="980.0781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="248" x="3038.0878" y="983.2886">URT_THREAD_MEMORY (varname, stacksize)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3019.0878" x2="3795.0878" y1="989.8828" y2="989.8828"/><ellipse cx="3029.0878" cy="1000.8828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="752" x="3038.0878" y="1004.0933">urtThreadInit (memory : void*, size : size_t, prio : urt_osThreadPrio_t, func : urt_osThreadFunction_t*, arg : void*) : urt_osThread_t*</text><ellipse cx="3029.0878" cy="1013.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="3038.0878" y="1016.8979">urtThreadStart (thread : urt_osThread_t*) : void</text><ellipse cx="3029.0878" cy="1026.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="3038.0878" y="1029.7026">urtThreadYield (void) : void</text><ellipse cx="3029.0878" cy="1039.2969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3038.0878" y="1042.5073">urtThreadGetPriority (void) : urt_osThreadPrio_t</text><ellipse cx="3029.0878" cy="1052.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="304" x="3038.0878" y="1055.312">urtThreadSetPriority (prio : urt_osThreadPrio_t) : void</text><ellipse cx="3029.0878" cy="1064.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="220" x="3038.0878" y="1068.1167">urtThreadSleep (seconds : float) : void</text><ellipse cx="3029.0878" cy="1077.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="273" x="3038.0878" y="1080.9214">urtThreadSSleep (seconds : unsigned int) : void</text><ellipse cx="3029.0878" cy="1090.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="3038.0878" y="1093.7261">urtThreadMSleep (milliseconds : unsigned int) : void</text><ellipse cx="3029.0878" cy="1103.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="3038.0878" y="1106.5308">urtThreadUSleep (microseconds : urt_delay_t) : void</text><ellipse cx="3029.0878" cy="1116.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3038.0878" y="1119.3354">urtThreadSleepUntil (time : urt_osTime_t) : void</text><ellipse cx="3029.0878" cy="1128.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="3038.0878" y="1132.1401">urtThreadExit (void) : void</text><ellipse cx="3029.0878" cy="1141.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="518" x="3038.0878" y="1144.9448">urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void</text><ellipse cx="3029.0878" cy="1154.5391" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="3038.0878" y="1157.7495">urtThreadShouldTerminate (void) : bool</text><ellipse cx="3029.0878" cy="1167.3438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="264" x="3038.0878" y="1170.5542">urtThreadJoin (thread : urt_osThread_t*) : void</text><ellipse cx="3029.0878" cy="1180.1484" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="387" x="3038.0878" y="1183.3589">urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t</text><ellipse cx="3029.0878" cy="1192.9531" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="237" x="3038.0878" y="1196.1636">urtThreadGetSelf (void) : urt_osThread_t*</text><ellipse cx="3029.0878" cy="1205.7578" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="3038.0878" y="1208.9683">urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="3029.0878" cy="1218.5625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="3038.0878" y="1221.7729">urtThreadGetSibling (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="3029.0878" cy="1231.3672" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="3038.0878" y="1234.5776">urtThreadGetParent (thread : urt_osThread_t*) : urt_osThread_t*</text><!--MD5=[0a4e0f34d8da0ad3ed6ecf72f02e09c8]
-class urt_osEventMask_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="60.8047" id="urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.5;" width="280" x="2469.0878" y="1345.3594"/><ellipse cx="2546.3378" cy="1361.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2547.1816,1368.1094 L2544.7284,1368.1094 L2544.7284,1357.8594 L2541.5878,1357.8594 L2541.5878,1355.7188 L2550.3222,1355.7188 L2550.3222,1357.8594 L2547.1816,1357.8594 L2547.1816,1368.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="2566.8378" y="1365.5137">urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2470.0878" x2="2748.0878" y1="1377.3594" y2="1377.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="268" x="2475.0878" y="1391.5698">URT_EVENTMASK_MAXPRIO : urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2470.0878" x2="2748.0878" y1="1398.1641" y2="1398.1641"/><!--MD5=[dc1cc33af288560680c15dec1e56eda0]
-class urt_osEventFlags_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="48" id="urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.5;" width="150" x="1878.0878" y="1651.3594"/><ellipse cx="1893.0878" cy="1667.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1893.9316,1674.1094 L1891.4784,1674.1094 L1891.4784,1663.8594 L1888.3378,1663.8594 L1888.3378,1661.7188 L1897.0722,1661.7188 L1897.0722,1663.8594 L1893.9316,1663.8594 L1893.9316,1674.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="1907.0878" y="1671.5137">urt_osEventFlags_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1879.0878" x2="2027.0878" y1="1683.3594" y2="1683.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1879.0878" x2="2027.0878" y1="1691.3594" y2="1691.3594"/><!--MD5=[e2bbbd64e6979bf7b755747a6c0ba948]
-class urt_osEventWait_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="86.4141" id="urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.5;" width="162" x="2235.0878" y="1332.8594"/><ellipse cx="2258.1878" cy="1348.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2262.2972,1354.8594 L2254.5784,1354.8594 L2254.5784,1342.4688 L2262.2972,1342.4688 L2262.2972,1344.625 L2257.0315,1344.625 L2257.0315,1347.2969 L2261.7972,1347.2969 L2261.7972,1349.4531 L2257.0315,1349.4531 L2257.0315,1352.7031 L2262.2972,1352.7031 L2262.2972,1354.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="2273.9878" y="1353.0137">urt_osEventWait_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2236.0878" x2="2396.0878" y1="1364.8594" y2="1364.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="2241.0878" y="1379.0698">URT_EVENT_WAIT_ONE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="148" x="2241.0878" y="1391.8745">URT_EVENT_WAIT_ANY = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="2241.0878" y="1404.6792">URT_EVENT_WAIT_ALL = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2236.0878" x2="2396.0878" y1="1411.2734" y2="1411.2734"/><!--MD5=[d054ac2eda12ce4b1fe5a18c9be716c1]
-class urt_osEventListener_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="86.4141" id="urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.5;" width="494" x="1706.0878" y="1332.8594"/><ellipse cx="1881.3378" cy="1348.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1882.1816,1355.6094 L1879.7284,1355.6094 L1879.7284,1345.3594 L1876.5878,1345.3594 L1876.5878,1343.2188 L1885.3222,1343.2188 L1885.3222,1345.3594 L1882.1816,1345.3594 L1882.1816,1355.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="1901.8378" y="1353.0137">urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1707.0878" x2="2199.0878" y1="1364.8594" y2="1364.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1707.0878" x2="2199.0878" y1="1372.8594" y2="1372.8594"/><ellipse cx="1717.0878" cy="1383.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="341" x="1726.0878" y="1387.0698">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="1717.0878" cy="1396.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="458" x="1726.0878" y="1399.8745">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="1717.0878" cy="1409.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="468" x="1726.0878" y="1412.6792">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--MD5=[4d6906f8b977dc26629fa492460e6327]
-class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.5;" width="547" x="1123.5878" y="1338.8594"/><ellipse cx="1328.3378" cy="1354.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1329.1816,1361.6094 L1326.7284,1361.6094 L1326.7284,1351.3594 L1323.5878,1351.3594 L1323.5878,1349.2188 L1332.3222,1349.2188 L1332.3222,1351.3594 L1329.1816,1351.3594 L1329.1816,1361.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="129" x="1348.8378" y="1359.0137">urt_osEventSource_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1124.5878" x2="1669.5878" y1="1370.8594" y2="1370.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1124.5878" x2="1669.5878" y1="1378.8594" y2="1378.8594"/><ellipse cx="1134.5878" cy="1389.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="325" x="1143.5878" y="1393.0698">urtEventSourceInit (source : urt_osEventSource_t*) : void</text><ellipse cx="1134.5878" cy="1402.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="521" x="1143.5878" y="1405.8745">urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void</text><!--MD5=[04a3b5a37031e2a4d723f19d8adf86f5]
-class urt_events--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="86.4141" id="urt_events" style="stroke: #A80036; stroke-width: 1.5;" width="845" x="1898.5878" y="1016.3594"/><ellipse cx="2283.8378" cy="1032.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2288.0722,1028.125 L2282.7909,1028.125 L2282.7909,1030.7969 L2287.5878,1030.7969 L2287.5878,1032.9531 L2282.7909,1032.9531 L2282.7909,1038.3594 L2280.3534,1038.3594 L2280.3534,1025.9688 L2288.0722,1025.9688 L2288.0722,1028.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="2304.3378" y="1036.5137">urt_events</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1899.5878" x2="2742.5878" y1="1048.3594" y2="1048.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1899.5878" x2="2742.5878" y1="1056.3594" y2="1056.3594"/><ellipse cx="1909.5878" cy="1067.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="819" x="1918.5878" y="1070.5698">urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : void</text><ellipse cx="1909.5878" cy="1080.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="522" x="1918.5878" y="1083.3745">urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : void</text><ellipse cx="1909.5878" cy="1092.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="618" x="1918.5878" y="1096.1792">urtEventWait (mask : urt_osEventMask_t, type : urt_osEventWait_t, timeout : urt_delay_t) : urt_osEventMask_t</text><!--MD5=[0cf29100c96c506429a28b45d347cc92]
-class urt_streams--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="73.6094" id="urt_streams" style="stroke: #A80036; stroke-width: 1.5;" width="213" x="886.5878" y="1022.3594"/><ellipse cx="951.3378" cy="1038.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M955.5722,1034.125 L950.2909,1034.125 L950.2909,1036.7969 L955.0878,1036.7969 L955.0878,1038.9531 L950.2909,1038.9531 L950.2909,1044.3594 L947.8534,1044.3594 L947.8534,1031.9688 L955.5722,1031.9688 L955.5722,1034.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="971.8378" y="1042.5137">urt_streams</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="887.5878" x2="1098.5878" y1="1054.3594" y2="1054.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="887.5878" x2="1098.5878" y1="1062.3594" y2="1062.3594"/><ellipse cx="897.5878" cy="1073.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="170" x="906.5878" y="1076.5698">urtPrintf (fmt : char*, ... ) : int</text><ellipse cx="897.5878" cy="1086.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="187" x="906.5878" y="1089.3745">urtErrPrintf (fmt : char*, ... ) : int</text><!--MD5=[f106a25c06a671b3918b1a8f37571a4d]
-class urt_debug--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="60.8047" id="urt_debug" style="stroke: #A80036; stroke-width: 1.5;" width="249" x="602.5878" y="1028.8594"/><ellipse cx="690.8378" cy="1044.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M695.0722,1040.625 L689.7909,1040.625 L689.7909,1043.2969 L694.5878,1043.2969 L694.5878,1045.4531 L689.7909,1045.4531 L689.7909,1050.8594 L687.3534,1050.8594 L687.3534,1038.4688 L695.0722,1038.4688 L695.0722,1040.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="64" x="711.3378" y="1049.0137">urt_debug</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="603.5878" x2="850.5878" y1="1060.8594" y2="1060.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="603.5878" x2="850.5878" y1="1068.8594" y2="1068.8594"/><ellipse cx="613.5878" cy="1079.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="223" x="622.5878" y="1083.0698">urtDebugAssert (condition : bool) : void</text><!--MD5=[89d25e87afdd75480e1ec2bd05524873]
-class urt_core_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="307.2891" id="urt_core_t" style="stroke: #A80036; stroke-width: 1.5;" width="343" x="7806.5878" y="159.3594"/><ellipse cx="7942.3378" cy="175.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7941.8222,175.9219 Q7939.9628,175.2188 7939.3066,174.4531 Q7938.6659,173.6719 7938.6659,172.3594 Q7938.6659,170.6719 7939.7441,169.7031 Q7940.8222,168.7344 7942.6972,168.7344 Q7943.5566,168.7344 7944.4003,168.9375 Q7945.2597,169.125 7946.1034,169.5156 L7946.1034,171.9063 Q7945.3222,171.3438 7944.4941,171.0625 Q7943.6816,170.7656 7942.8847,170.7656 Q7942.0097,170.7656 7941.5253,171.125 Q7941.0566,171.4844 7941.0566,172.1406 Q7941.0566,172.6563 7941.4003,173 Q7941.7441,173.3281 7942.8378,173.7344 L7943.9003,174.1406 Q7945.3847,174.6875 7946.0878,175.5938 Q7946.8066,176.5 7946.8066,177.875 Q7946.8066,179.75 7945.6972,180.6719 Q7944.5878,181.5938 7942.3378,181.5938 Q7941.4159,181.5938 7940.4941,181.375 Q7939.5722,181.1563 7938.7128,180.7344 L7938.7128,178.2031 Q7939.6816,178.8906 7940.6034,179.2344 Q7941.5253,179.5781 7942.4159,179.5781 Q7943.3222,179.5781 7943.8222,179.1719 Q7944.3222,178.75 7944.3222,178.0156 Q7944.3222,177.4531 7943.9784,177.0469 Q7943.6503,176.625 7943.0253,176.375 L7941.8222,175.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="63" x="7962.8378" y="179.5137">urt_core_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7807.5878" x2="8148.5878" y1="191.3594" y2="191.3594"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7814.5878" y="199.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="7826.5878" y="205.5698">_nodes : urt_node_t*</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7814.5878" y="212.1641"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="192" x="7826.5878" y="218.3745">_evtSource : urt_osEventSource_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7814.5878" y="224.9688"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="7826.5878" y="231.1792">_lock : urt_osMutex_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7814.5878" y="237.7734"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="122" x="7826.5878" y="243.9839">_status : urt_status_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7814.5878" y="267.3828"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="117" x="7826.5878" y="273.5933">_topics : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7807.5878" x2="7873.0878" y1="256.9805" y2="256.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="7873.0878" y="260.2886">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8083.0878" x2="8148.5878" y1="256.9805" y2="256.9805"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7814.5878" y="296.9922"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="145" x="7826.5878" y="303.2026">_services : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7807.5878" x2="7885.5878" y1="286.5898" y2="286.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="7885.5878" y="289.8979">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8070.5878" x2="8148.5878" y1="286.5898" y2="286.5898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7807.5878" x2="8148.5878" y1="309.7969" y2="309.7969"/><ellipse cx="7817.5878" cy="320.7969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="130" x="7826.5878" y="324.0073">urtCoreInit (void) : void</text><ellipse cx="7817.5878" cy="333.6016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="215" x="7826.5878" y="336.812">urtCoreGetStatus (void) : urt_status_t</text><ellipse cx="7817.5878" cy="346.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="177" x="7826.5878" y="349.6167">urtCoreStartNodes (void) : void</text><ellipse cx="7817.5878" cy="359.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="309" x="7826.5878" y="362.4214">urtCoreSynchronize (node : urt_node_t*) : urt_status_t</text><ellipse cx="7817.5878" cy="372.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="317" x="7826.5878" y="375.2261">urtCoreStopNodes (reason : urt_status_t) : urt_status_t</text><ellipse cx="7817.5878" cy="384.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="304" x="7826.5878" y="388.0308">urtCoreGetEventSource (void) : urt_osEventSource_t*</text><ellipse cx="7817.5878" cy="397.625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="228" x="7826.5878" y="400.8354">urtCoreGetMutex (void) : urt_osMutex_t*</text><ellipse cx="7817.5878" cy="427.2344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="273" x="7826.5878" y="430.4448">urtCoreGetTopic (id : urt_topicid_t) : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7807.5878" x2="7873.0878" y1="413.832" y2="413.832"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="7873.0878" y="417.1401">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; 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-class urt_nodeSetupCallback_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="60.8047" id="urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="456" x="17439.0878" y="1028.8594"/><ellipse cx="17584.8378" cy="1044.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17585.6816,1051.6094 L17583.2284,1051.6094 L17583.2284,1041.3594 L17580.0878,1041.3594 L17580.0878,1039.2188 L17588.8222,1039.2188 L17588.8222,1041.3594 L17585.6816,1041.3594 L17585.6816,1051.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="17605.3378" y="1049.0137">urt_nodeSetupCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="17440.0878" x2="17894.0878" y1="1060.8594" y2="1060.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="17440.0878" x2="17894.0878" y1="1068.8594" y2="1068.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="444" x="17445.0878" y="1083.0698">urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t</text><!--MD5=[7f869e17e281b89d59a4c09e0f22c3af]
-class urt_nodeLoopCallback_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="60.8047" id="urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="614" x="16790.0878" y="1028.8594"/><ellipse cx="17018.3378" cy="1044.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17019.1816,1051.6094 L17016.7284,1051.6094 L17016.7284,1041.3594 L17013.5878,1041.3594 L17013.5878,1039.2188 L17022.3222,1039.2188 L17022.3222,1041.3594 L17019.1816,1041.3594 L17019.1816,1051.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="17038.8378" y="1049.0137">urt_nodeLoopCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="16791.0878" x2="17403.0878" y1="1060.8594" y2="1060.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="16791.0878" x2="17403.0878" y1="1068.8594" y2="1068.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="602" x="16796.0878" y="1083.0698">urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_osEventMask_t</text><!--MD5=[843db13320bebc2ca47f25c6a57c2ae5]
-class urt_nodeShutdownCallback_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="60.8047" id="urt_nodeShutdownCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="518" x="17930.0878" y="1028.8594"/><ellipse cx="18094.3378" cy="1044.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M18095.1816,1051.6094 L18092.7284,1051.6094 L18092.7284,1041.3594 L18089.5878,1041.3594 L18089.5878,1039.2188 L18098.3222,1039.2188 L18098.3222,1041.3594 L18095.1816,1041.3594 L18095.1816,1051.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="181" x="18114.8378" y="1049.0137">urt_nodeShutdownCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="17931.0878" x2="18447.0878" y1="1060.8594" y2="1060.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="17931.0878" x2="18447.0878" y1="1068.8594" y2="1068.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="506" x="17936.0878" y="1083.0698">urt_nodeShutdownCallback_t (node : urt_node_t*, cause : urt_status_t, arg : void*) : void</text><!--MD5=[d2563153d77472384a15c07b815d639f]
-class urt_node_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="231.2656" id="urt_node_t" style="stroke: #A80036; stroke-width: 1.5;" width="1541" x="16793.5878" y="552.3594"/><ellipse cx="17526.3378" cy="568.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17525.8222,568.9219 Q17523.9628,568.2188 17523.3066,567.4531 Q17522.6659,566.6719 17522.6659,565.3594 Q17522.6659,563.6719 17523.7441,562.7031 Q17524.8222,561.7344 17526.6972,561.7344 Q17527.5566,561.7344 17528.4003,561.9375 Q17529.2597,562.125 17530.1034,562.5156 L17530.1034,564.9063 Q17529.3222,564.3438 17528.4941,564.0625 Q17527.6816,563.7656 17526.8847,563.7656 Q17526.0097,563.7656 17525.5253,564.125 Q17525.0566,564.4844 17525.0566,565.1406 Q17525.0566,565.6563 17525.4003,566 Q17525.7441,566.3281 17526.8378,566.7344 L17527.9003,567.1406 Q17529.3847,567.6875 17530.0878,568.5938 Q17530.8066,569.5 17530.8066,570.875 Q17530.8066,572.75 17529.6972,573.6719 Q17528.5878,574.5938 17526.3378,574.5938 Q17525.4159,574.5938 17524.4941,574.375 Q17523.5722,574.1563 17522.7128,573.7344 L17522.7128,571.2031 Q17523.6816,571.8906 17524.6034,572.2344 Q17525.5253,572.5781 17526.4159,572.5781 Q17527.3222,572.5781 17527.8222,572.1719 Q17528.3222,571.75 17528.3222,571.0156 Q17528.3222,570.4531 17527.9784,570.0469 Q17527.6503,569.625 17527.0253,569.375 L17525.8222,568.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="67" x="17546.8378" y="572.5137">urt_node_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="16794.5878" x2="18333.5878" y1="584.3594" y2="584.3594"/><ellipse cx="16804.5878" cy="595.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="102" x="16813.5878" y="598.5698">next : urt_node_t*</text><ellipse cx="16804.5878" cy="608.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="16813.5878" y="611.3745">thread : urt_osThread_t*</text><ellipse cx="16804.5878" cy="620.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="16813.5878" y="624.1792">setupcallback : urt_nodeSetupCallback_t*</text><ellipse cx="16804.5878" cy="633.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="117" x="16813.5878" y="636.9839">setupparams : void*</text><ellipse cx="16804.5878" cy="646.5781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="221" x="16813.5878" y="649.7886">loopcallback : urt_nodeLoopCallback_t*</text><ellipse cx="16804.5878" cy="659.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="109" x="16813.5878" y="662.5933">loopparams : void*</text><ellipse cx="16804.5878" cy="672.1875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="281" x="16813.5878" y="675.3979">shutdowncallback : urt_nodeShutdownCallback_t*</text><ellipse cx="16804.5878" cy="684.9922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="140" x="16813.5878" y="688.2026">shutdownparams : void*</text><ellipse cx="16804.5878" cy="697.7969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="16813.5878" y="701.0073">stage : urt_nodestage_t</text><ellipse cx="16804.5878" cy="710.6016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="178" x="16813.5878" y="713.812">listener : urt_osEventListener_t</text><ellipse cx="16804.5878" cy="740.2109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="88" x="16813.5878" y="743.4214">loops : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16794.5878" x2="17356.0878" y1="726.8086" y2="726.8086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="416" x="17356.0878" y="730.1167">URT_CFG_PUBSUB_PROFILING == true || URT_CFG_RPC_PROFILING = true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="17772.0878" x2="18333.5878" y1="726.8086" y2="726.8086"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="16794.5878" x2="18333.5878" y1="750.0156" y2="750.0156"/><rect fill="#F24D5C" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="16801.5878" y="758.0156"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="179" x="16813.5878" y="764.2261">_main : urt_osThreadFunction_t</text><ellipse cx="16804.5878" cy="773.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1515" x="16813.5878" y="777.0308">urtNodeInit (node : urt_node_t*, thread : urt_osThread_t*, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*, shutdowncallback : urt_nodeShutdownCallback_t*, shutodwnparams : void*) : void</text><!--MD5=[e602aa6d45f270ad04f88c9ca5352b33]
-class urt_message_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="141.6328" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="406" x="12420.0878" y="1304.8594"/><ellipse cx="12572.8378" cy="1320.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12572.3222,1321.4219 Q12570.4628,1320.7188 12569.8066,1319.9531 Q12569.1659,1319.1719 12569.1659,1317.8594 Q12569.1659,1316.1719 12570.2441,1315.2031 Q12571.3222,1314.2344 12573.1972,1314.2344 Q12574.0566,1314.2344 12574.9003,1314.4375 Q12575.7597,1314.625 12576.6034,1315.0156 L12576.6034,1317.4063 Q12575.8222,1316.8438 12574.9941,1316.5625 Q12574.1816,1316.2656 12573.3847,1316.2656 Q12572.5097,1316.2656 12572.0253,1316.625 Q12571.5566,1316.9844 12571.5566,1317.6406 Q12571.5566,1318.1563 12571.9003,1318.5 Q12572.2441,1318.8281 12573.3378,1319.2344 L12574.4003,1319.6406 Q12575.8847,1320.1875 12576.5878,1321.0938 Q12577.3066,1322 12577.3066,1323.375 Q12577.3066,1325.25 12576.1972,1326.1719 Q12575.0878,1327.0938 12572.8378,1327.0938 Q12571.9159,1327.0938 12570.9941,1326.875 Q12570.0722,1326.6563 12569.2128,1326.2344 L12569.2128,1323.7031 Q12570.1816,1324.3906 12571.1034,1324.7344 Q12572.0253,1325.0781 12572.9159,1325.0781 Q12573.8222,1325.0781 12574.3222,1324.6719 Q12574.8222,1324.25 12574.8222,1323.5156 Q12574.8222,1322.9531 12574.4784,1322.5469 Q12574.1503,1322.125 12573.5253,1321.875 L12572.3222,1321.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="12593.3378" y="1325.0137">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12421.0878" x2="12825.0878" y1="1336.8594" y2="1336.8594"/><ellipse cx="12431.0878" cy="1347.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="127" x="12440.0878" y="1351.0698">next : urt_message_t*</text><ellipse cx="12431.0878" cy="1360.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="12440.0878" y="1363.8745">payload : void*</text><ellipse cx="12431.0878" cy="1373.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="12440.0878" y="1376.6792">originTime : urt_osTime_t</text><ellipse cx="12431.0878" cy="1386.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="211" x="12440.0878" y="1389.4839">numHrtConsumersLeft : unsigned int</text><ellipse cx="12431.0878" cy="1415.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="12440.0878" y="1419.0933">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12421.0878" x2="12514.5878" y1="1402.4805" y2="1402.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12514.5878" y="1405.7886">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12731.5878" x2="12825.0878" y1="1402.4805" y2="1402.4805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="12421.0878" x2="12825.0878" y1="1425.6875" y2="1425.6875"/><ellipse cx="12431.0878" cy="1436.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="12440.0878" y="1439.8979">urtMessageInit (message : urt_message_t*, payload : void*) : void</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]
-class urt_publisher_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="196.0469" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="783" x="11893.5878" y="569.8594"/><ellipse cx="12234.3378" cy="585.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12233.8222,586.4219 Q12231.9628,585.7188 12231.3066,584.9531 Q12230.6659,584.1719 12230.6659,582.8594 Q12230.6659,581.1719 12231.7441,580.2031 Q12232.8222,579.2344 12234.6972,579.2344 Q12235.5566,579.2344 12236.4003,579.4375 Q12237.2597,579.625 12238.1034,580.0156 L12238.1034,582.4063 Q12237.3222,581.8438 12236.4941,581.5625 Q12235.6816,581.2656 12234.8847,581.2656 Q12234.0097,581.2656 12233.5253,581.625 Q12233.0566,581.9844 12233.0566,582.6406 Q12233.0566,583.1563 12233.4003,583.5 Q12233.7441,583.8281 12234.8378,584.2344 L12235.9003,584.6406 Q12237.3847,585.1875 12238.0878,586.0938 Q12238.8066,587 12238.8066,588.375 Q12238.8066,590.25 12237.6972,591.1719 Q12236.5878,592.0938 12234.3378,592.0938 Q12233.4159,592.0938 12232.4941,591.875 Q12231.5722,591.6563 12230.7128,591.2344 L12230.7128,588.7031 Q12231.6816,589.3906 12232.6034,589.7344 Q12233.5253,590.0781 12234.4159,590.0781 Q12235.3222,590.0781 12235.8222,589.6719 Q12236.3222,589.25 12236.3222,588.5156 Q12236.3222,587.9531 12235.9784,587.5469 Q12235.6503,587.125 12235.0253,586.875 L12233.8222,586.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="12254.8378" y="590.0137">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11894.5878" x2="12675.5878" y1="601.8594" y2="601.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="289" x="11899.5878" y="616.0698">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT : bool</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11894.5878" x2="12675.5878" y1="622.6641" y2="622.6641"/><ellipse cx="11904.5878" cy="633.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="11913.5878" y="636.8745">topic : urt_topic_t*</text><ellipse cx="11904.5878" cy="663.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="149" x="11913.5878" y="666.4839">publishAttempts : uint64_t</text><ellipse cx="11904.5878" cy="676.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="11913.5878" y="679.2886">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11894.5878" x2="12176.5878" y1="649.8711" y2="649.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12176.5878" y="653.1792">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12393.5878" x2="12675.5878" y1="649.8711" y2="649.8711"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11894.5878" x2="12675.5878" y1="685.8828" y2="685.8828"/><ellipse cx="11904.5878" cy="696.8828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="572" x="11913.5878" y="700.0933">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : void</text><ellipse cx="11904.5878" cy="726.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="632" x="11913.5878" y="729.7026">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t) : urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11894.5878" x2="12131.5878" y1="713.0898" y2="713.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="307" x="12131.5878" y="716.3979">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == false</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12438.5878" x2="12675.5878" y1="713.0898" y2="713.0898"/><ellipse cx="11904.5878" cy="756.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="757" x="11913.5878" y="759.312">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11894.5878" x2="12134.0878" y1="742.6992" y2="742.6992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="302" x="12134.0878" y="746.0073">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12436.0878" x2="12675.5878" y1="742.6992" y2="742.6992"/><!--MD5=[a1b1e66ec52c209a9fa2dab315cd7630]
-class urt_topic_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="260.875" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="11456.0878" y="537.3594"/><ellipse cx="11610.8378" cy="553.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11610.3222,553.9219 Q11608.4628,553.2188 11607.8066,552.4531 Q11607.1659,551.6719 11607.1659,550.3594 Q11607.1659,548.6719 11608.2441,547.7031 Q11609.3222,546.7344 11611.1972,546.7344 Q11612.0566,546.7344 11612.9003,546.9375 Q11613.7597,547.125 11614.6034,547.5156 L11614.6034,549.9063 Q11613.8222,549.3438 11612.9941,549.0625 Q11612.1816,548.7656 11611.3847,548.7656 Q11610.5097,548.7656 11610.0253,549.125 Q11609.5566,549.4844 11609.5566,550.1406 Q11609.5566,550.6563 11609.9003,551 Q11610.2441,551.3281 11611.3378,551.7344 L11612.4003,552.1406 Q11613.8847,552.6875 11614.5878,553.5938 Q11615.3066,554.5 11615.3066,555.875 Q11615.3066,557.75 11614.1972,558.6719 Q11613.0878,559.5938 11610.8378,559.5938 Q11609.9159,559.5938 11608.9941,559.375 Q11608.0722,559.1563 11607.2128,558.7344 L11607.2128,556.2031 Q11608.1816,556.8906 11609.1034,557.2344 Q11610.0253,557.5781 11610.9159,557.5781 Q11611.8222,557.5781 11612.3222,557.1719 Q11612.8222,556.75 11612.8222,556.0156 Q11612.8222,555.4531 11612.4784,555.0469 Q11612.1503,554.625 11611.5253,554.375 L11610.3222,553.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="11631.3378" y="557.5137">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11457.0878" x2="11839.0878" y1="569.3594" y2="569.3594"/><ellipse cx="11467.0878" cy="580.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="11476.0878" y="583.5698">next : urt_topic_t*</text><ellipse cx="11467.0878" cy="593.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="11476.0878" y="596.3745">id : urt_topicid_t</text><ellipse cx="11467.0878" cy="605.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="11476.0878" y="609.1792">lock : urt_osMutex_t</text><ellipse cx="11467.0878" cy="618.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="11476.0878" y="621.9839">evtSource : urt_osEventSource_t</text><ellipse cx="11467.0878" cy="631.5781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="11476.0878" y="634.7886">numHrtSubscribers : unsigned int</text><ellipse cx="11467.0878" cy="644.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="11476.0878" y="647.5933">hrtReleased : urt_osCondvar_t</text><ellipse cx="11467.0878" cy="657.1875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="209" x="11476.0878" y="660.3979">mandatoryMessage : urt_message_t</text><ellipse cx="11467.0878" cy="669.9922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="11476.0878" y="673.2026">latestMessage : urt_message_t*</text><ellipse cx="11467.0878" cy="699.6016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="212" x="11476.0878" y="702.812">hrtSubscribers : urt_hrtsubscriber_t*</text><ellipse cx="11467.0878" cy="712.4063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="170" x="11476.0878" y="715.6167">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11457.0878" x2="11515.5878" y1="686.1992" y2="686.1992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="11515.5878" y="689.5073">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11780.5878" x2="11839.0878" y1="686.1992" y2="686.1992"/><ellipse cx="11467.0878" cy="742.0156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="11476.0878" y="745.2261">numMessagesPublished : uint64_t</text><ellipse cx="11467.0878" cy="754.8203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="11476.0878" y="758.0308">numMessagesDiscarded : uint64_t</text><ellipse cx="11467.0878" cy="767.625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="11476.0878" y="770.8354">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11457.0878" x2="11539.5878" y1="728.6133" y2="728.6133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="11539.5878" y="731.9214">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11756.5878" x2="11839.0878" y1="728.6133" y2="728.6133"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11457.0878" x2="11839.0878" y1="777.4297" y2="777.4297"/><ellipse cx="11467.0878" cy="788.4297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="358" x="11476.0878" y="791.6401">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[50a042e24f957794dab9ba3ea8701c50]
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-class urt_nrtsubscriber_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="154.4375" id="urt_nrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="821" x="14928.5878" y="590.8594"/><ellipse cx="15275.3378" cy="606.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M15274.8222,607.4219 Q15272.9628,606.7188 15272.3066,605.9531 Q15271.6659,605.1719 15271.6659,603.8594 Q15271.6659,602.1719 15272.7441,601.2031 Q15273.8222,600.2344 15275.6972,600.2344 Q15276.5566,600.2344 15277.4003,600.4375 Q15278.2597,600.625 15279.1034,601.0156 L15279.1034,603.4063 Q15278.3222,602.8438 15277.4941,602.5625 Q15276.6816,602.2656 15275.8847,602.2656 Q15275.0097,602.2656 15274.5253,602.625 Q15274.0566,602.9844 15274.0566,603.6406 Q15274.0566,604.1563 15274.4003,604.5 Q15274.7441,604.8281 15275.8378,605.2344 L15276.9003,605.6406 Q15278.3847,606.1875 15279.0878,607.0938 Q15279.8066,608 15279.8066,609.375 Q15279.8066,611.25 15278.6972,612.1719 Q15277.5878,613.0938 15275.3378,613.0938 Q15274.4159,613.0938 15273.4941,612.875 Q15272.5722,612.6563 15271.7128,612.2344 L15271.7128,609.7031 Q15272.6816,610.3906 15273.6034,610.7344 Q15274.5253,611.0781 15275.4159,611.0781 Q15276.3222,611.0781 15276.8222,610.6719 Q15277.3222,610.25 15277.3222,609.5156 Q15277.3222,608.9531 15276.9784,608.5469 Q15276.6503,608.125 15276.0253,607.875 L15274.8222,607.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="15295.8378" y="611.0137">urt_nrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="14929.5878" x2="15748.5878" y1="622.8594" y2="622.8594"/><ellipse cx="14939.5878" cy="650.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="14948.5878" y="653.8745">minLatency : urt_delay_t</text><ellipse cx="14939.5878" cy="663.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="14948.5878" y="666.6792">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="14929.5878" x2="15230.5878" y1="637.2617" y2="637.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="15230.5878" y="640.5698">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15447.5878" x2="15748.5878" y1="637.2617" y2="637.2617"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="14929.5878" x2="15748.5878" y1="673.2734" y2="673.2734"/><ellipse cx="14939.5878" cy="684.2734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="14948.5878" y="687.4839">urtNrtSubscriberInit (subscriber : urt_nrtsubscriber_t*) : void</text><ellipse cx="14939.5878" cy="697.0781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="715" x="14948.5878" y="700.2886">urtNrtSubscriberSubscribe (subscriber : urt_nrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="14939.5878" cy="709.8828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="14948.5878" y="713.0933">urtNrtSubscriberFetchNextMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="14939.5878" cy="722.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="14948.5878" y="725.8979">urtNrtSubscriberFetchLatestMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="14939.5878" cy="735.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="14948.5878" y="738.7026">urtNrtSubscriberUnsubscribe (subscriber : urt_nrtsubscriber_t*) : urt_status_t</text><!--MD5=[5c7929572d87ccc448d875bea5da0fb1]
-class urt_srtsubscriber_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="192.8516" id="urt_srtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1044" x="13849.0878" y="571.3594"/><ellipse cx="14307.8378" cy="587.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M14307.3222,587.9219 Q14305.4628,587.2188 14304.8066,586.4531 Q14304.1659,585.6719 14304.1659,584.3594 Q14304.1659,582.6719 14305.2441,581.7031 Q14306.3222,580.7344 14308.1972,580.7344 Q14309.0566,580.7344 14309.9003,580.9375 Q14310.7597,581.125 14311.6034,581.5156 L14311.6034,583.9063 Q14310.8222,583.3438 14309.9941,583.0625 Q14309.1816,582.7656 14308.3847,582.7656 Q14307.5097,582.7656 14307.0253,583.125 Q14306.5566,583.4844 14306.5566,584.1406 Q14306.5566,584.6563 14306.9003,585 Q14307.2441,585.3281 14308.3378,585.7344 L14309.4003,586.1406 Q14310.8847,586.6875 14311.5878,587.5938 Q14312.3066,588.5 14312.3066,589.875 Q14312.3066,591.75 14311.1972,592.6719 Q14310.0878,593.5938 14307.8378,593.5938 Q14306.9159,593.5938 14305.9941,593.375 Q14305.0722,593.1563 14304.2128,592.7344 L14304.2128,590.2031 Q14305.1816,590.8906 14306.1034,591.2344 Q14307.0253,591.5781 14307.9159,591.5781 Q14308.8222,591.5781 14309.3222,591.1719 Q14309.8222,590.75 14309.8222,590.0156 Q14309.8222,589.4531 14309.4784,589.0469 Q14309.1503,588.625 14308.5253,588.375 L14307.3222,587.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="14328.3378" y="591.5137">urt_srtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="13850.0878" x2="14892.0878" y1="603.3594" y2="603.3594"/><ellipse cx="13860.0878" cy="614.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="13869.0878" y="617.5698">usefulnesscb : urt_usefulness_f*</text><ellipse cx="13860.0878" cy="627.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="98" x="13869.0878" y="630.3745">cbparams : void*</text><ellipse cx="13860.0878" cy="656.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="13869.0878" y="659.9839">minLatency : urt_delay_t</text><ellipse cx="13860.0878" cy="669.5781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="13869.0878" y="672.7886">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13850.0878" x2="14262.5878" y1="643.3711" y2="643.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="14262.5878" y="646.6792">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="14479.5878" x2="14892.0878" y1="643.3711" y2="643.3711"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="13850.0878" x2="14892.0878" y1="679.3828" y2="679.3828"/><ellipse cx="13860.0878" cy="690.3828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="13869.0878" y="693.5933">urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : void</text><ellipse cx="13860.0878" cy="703.1875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1018" x="13869.0878" y="706.3979">urtSrtSubscriberSubscribe (subscriber : urt_srtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_usefulness_f*, cbparams : void*) : urt_status_t</text><ellipse cx="13860.0878" cy="715.9922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="13869.0878" y="719.2026">urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="13860.0878" cy="728.7969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="13869.0878" y="732.0073">urtSrtSubscriberFetchLatestMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="13860.0878" cy="741.6016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="13869.0878" y="744.812">urtSrtSubscriberCalculateUsefulness (subscriber : urt_srtsubscriber_t*, latency : urt_delay_t) : float</text><ellipse cx="13860.0878" cy="754.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="13869.0878" y="757.6167">urtSrtSubscriberUnsubscribe (subscriber : urt_srtsubscriber_t*) : urt_status_t</text><!--MD5=[17838fb05fe219fd399839979ec8a4a4]
-class urt_frtsubscriber_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="226.4609" id="urt_frtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="974" x="15784.0878" y="554.8594"/><ellipse cx="16209.3378" cy="570.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M16208.8222,571.4219 Q16206.9628,570.7188 16206.3066,569.9531 Q16205.6659,569.1719 16205.6659,567.8594 Q16205.6659,566.1719 16206.7441,565.2031 Q16207.8222,564.2344 16209.6972,564.2344 Q16210.5566,564.2344 16211.4003,564.4375 Q16212.2597,564.625 16213.1034,565.0156 L16213.1034,567.4063 Q16212.3222,566.8438 16211.4941,566.5625 Q16210.6816,566.2656 16209.8847,566.2656 Q16209.0097,566.2656 16208.5253,566.625 Q16208.0566,566.9844 16208.0566,567.6406 Q16208.0566,568.1563 16208.4003,568.5 Q16208.7441,568.8281 16209.8378,569.2344 L16210.9003,569.6406 Q16212.3847,570.1875 16213.0878,571.0938 Q16213.8066,572 16213.8066,573.375 Q16213.8066,575.25 16212.6972,576.1719 Q16211.5878,577.0938 16209.3378,577.0938 Q16208.4159,577.0938 16207.4941,576.875 Q16206.5722,576.6563 16205.7128,576.2344 L16205.7128,573.7031 Q16206.6816,574.3906 16207.6034,574.7344 Q16208.5253,575.0781 16209.4159,575.0781 Q16210.3222,575.0781 16210.8222,574.6719 Q16211.3222,574.25 16211.3222,573.5156 Q16211.3222,572.9531 16210.9784,572.5469 Q16210.6503,572.125 16210.0253,571.875 L16208.8222,571.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="16229.8378" y="575.0137">urt_frtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="15785.0878" x2="16757.0878" y1="586.8594" y2="586.8594"/><ellipse cx="15795.0878" cy="614.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="15804.0878" y="617.8745">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15785.0878" x2="16125.5878" y1="601.2617" y2="601.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="16125.5878" y="604.5698">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16416.5878" x2="16757.0878" y1="601.2617" y2="601.2617"/><ellipse cx="15795.0878" cy="644.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="15804.0878" y="647.4839">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15785.0878" x2="16135.5878" y1="630.8711" y2="630.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="16135.5878" y="634.1792">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16406.5878" x2="16757.0878" y1="630.8711" y2="630.8711"/><ellipse cx="15795.0878" cy="673.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="15804.0878" y="677.0933">minLatency : urt_delay_t</text><ellipse cx="15795.0878" cy="686.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="15804.0878" y="689.8979">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15785.0878" x2="16017.0878" y1="660.4805" y2="660.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="508" x="16017.0878" y="663.7886">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ||  URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16525.0878" x2="16757.0878" y1="660.4805" y2="660.4805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="15785.0878" x2="16757.0878" y1="696.4922" y2="696.4922"/><ellipse cx="15795.0878" cy="707.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="342" x="15804.0878" y="710.7026">urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : void</text><ellipse cx="15795.0878" cy="720.2969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="948" x="15804.0878" y="723.5073">urtFrtSubscriberSubscribe (subscriber : urt_frtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="15795.0878" cy="733.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="780" x="15804.0878" y="736.312">urtFrtSubscriberFetchNextMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="15795.0878" cy="745.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="790" x="15804.0878" y="749.1167">urtFrtSubscriberFetchLatestMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="15795.0878" cy="758.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="540" x="15804.0878" y="761.9214">urtFrtSubscriberCalculateValidity (subscriber : urt_frtsubscriber_t*, latency : urt_delay_t) : bool</text><ellipse cx="15795.0878" cy="771.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="441" x="15804.0878" y="774.7261">urtFrtSubscriberUnsubscribe (subscriber : urt_frtsubscriber_t*) : urt_status_t</text><!--MD5=[104dc879e5721421b987fcc467bc3a1d]
-class urt_hrtsubscriber_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="268.875" id="urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1084" x="12712.0878" y="533.3594"/><ellipse cx="13190.3378" cy="549.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M13189.8222,549.9219 Q13187.9628,549.2188 13187.3066,548.4531 Q13186.6659,547.6719 13186.6659,546.3594 Q13186.6659,544.6719 13187.7441,543.7031 Q13188.8222,542.7344 13190.6972,542.7344 Q13191.5566,542.7344 13192.4003,542.9375 Q13193.2597,543.125 13194.1034,543.5156 L13194.1034,545.9063 Q13193.3222,545.3438 13192.4941,545.0625 Q13191.6816,544.7656 13190.8847,544.7656 Q13190.0097,544.7656 13189.5253,545.125 Q13189.0566,545.4844 13189.0566,546.1406 Q13189.0566,546.6563 13189.4003,547 Q13189.7441,547.3281 13190.8378,547.7344 L13191.9003,548.1406 Q13193.3847,548.6875 13194.0878,549.5938 Q13194.8066,550.5 13194.8066,551.875 Q13194.8066,553.75 13193.6972,554.6719 Q13192.5878,555.5938 13190.3378,555.5938 Q13189.4159,555.5938 13188.4941,555.375 Q13187.5722,555.1563 13186.7128,554.7344 L13186.7128,552.2031 Q13187.6816,552.8906 13188.6034,553.2344 Q13189.5253,553.5781 13190.4159,553.5781 Q13191.3222,553.5781 13191.8222,553.1719 Q13192.3222,552.75 13192.3222,552.0156 Q13192.3222,551.4531 13191.9784,551.0469 Q13191.6503,550.625 13191.0253,550.375 L13189.8222,549.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="13210.8378" y="553.5137">urt_hrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12713.0878" x2="13795.0878" y1="565.3594" y2="565.3594"/><ellipse cx="12723.0878" cy="576.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="151" x="12732.0878" y="579.5698">next : urt_hrtsubscriber_t*</text><ellipse cx="12723.0878" cy="605.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="12732.0878" y="609.1792">deadlineOffset : urt_delay_t</text><ellipse cx="12723.0878" cy="618.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="12732.0878" y="621.9839">qosDeadlineTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12713.0878" x2="13108.5878" y1="592.5664" y2="592.5664"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="13108.5878" y="595.8745">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13399.5878" x2="13795.0878" y1="592.5664" y2="592.5664"/><ellipse cx="12723.0878" cy="648.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="12732.0878" y="651.5933">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12713.0878" x2="13118.5878" y1="634.9805" y2="634.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="13118.5878" y="638.2886">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13389.5878" x2="13795.0878" y1="634.9805" y2="634.9805"/><ellipse cx="12723.0878" cy="677.9922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="12732.0878" y="681.2026">minLatency : urt_delay_t</text><ellipse cx="12723.0878" cy="690.7969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="12732.0878" y="694.0073">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12713.0878" x2="13002.0878" y1="664.5898" y2="664.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="504" x="13002.0878" y="667.8979">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13506.0878" x2="13795.0878" y1="664.5898" y2="664.5898"/><ellipse cx="12723.0878" cy="720.4063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="12732.0878" y="723.6167">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12713.0878" x2="13121.5878" y1="707.0039" y2="707.0039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="13121.5878" y="710.312">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13386.5878" x2="13795.0878" y1="707.0039" y2="707.0039"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="12713.0878" x2="13795.0878" y1="730.2109" y2="730.2109"/><ellipse cx="12723.0878" cy="741.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="12732.0878" y="744.4214">urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : void</text><ellipse cx="12723.0878" cy="754.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1058" x="12732.0878" y="757.2261">urtHrtSubscriberSubscribe (subscriber : urt_hrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, rate : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="12723.0878" cy="766.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="12732.0878" y="770.0308">urtHrtSubscriberFetchNextMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="12723.0878" cy="779.625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="12732.0878" y="782.8354">urtHrtSubscriberFetchLatestMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="12723.0878" cy="792.4297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="12732.0878" y="795.6401">urtHrtSubscriberUnsubscribe (subscriber : urt_hrtsubscriber_t*) : urt_status_t</text><!--MD5=[e60e0f8379a14e7a4a292c65add9d735]
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stroke-width: 1.5;" x1="8166.0878" x2="8760.0878" y1="564.8594" y2="564.8594"/><ellipse cx="8176.0878" cy="575.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="115" x="8185.0878" y="579.0698">next : urt_service_t*</text><ellipse cx="8176.0878" cy="588.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="105" x="8185.0878" y="591.8745">id : urt_serviceid_t</text><ellipse cx="8176.0878" cy="601.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="8185.0878" y="604.6792">lock : urt_osMutex_t</text><ellipse cx="8176.0878" cy="614.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="236" x="8185.0878" y="617.4839">requestQueue_front : urt_baserequest_t*</text><ellipse cx="8176.0878" cy="627.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="8185.0878" y="630.2886">requestQueue_hrtBack : urt_hrtrequest_t*</text><ellipse cx="8176.0878" cy="639.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="256" x="8185.0878" y="643.0933">requestQueue_fsrtBack : urt_baserequest_t*</text><ellipse cx="8176.0878" cy="652.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="8185.0878" y="655.8979">requestQueue_back : urt_baserequest_t*</text><ellipse cx="8176.0878" cy="665.4922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="8185.0878" y="668.7026">evtSource : urt_osEventSource_t</text><ellipse cx="8176.0878" cy="678.2969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="8185.0878" y="681.5073">evtListener : urt_osEventListener_t</text><ellipse cx="8176.0878" cy="707.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="110" x="8185.0878" y="711.1167">numCalls : uint64_t</text><ellipse cx="8176.0878" cy="720.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="8185.0878" y="723.9214">numOwnershipLost : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8166.0878" x2="8367.0878" y1="694.5039" y2="694.5039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="8367.0878" y="697.812">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8559.0878" x2="8760.0878" y1="694.5039" y2="694.5039"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8166.0878" x2="8760.0878" y1="730.5156" y2="730.5156"/><ellipse cx="8176.0878" cy="741.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="412" x="8185.0878" y="744.7261">urtServiceInit (service : urt_service_t*, id : urt_serviceid_t) : urt_status_t</text><ellipse cx="8176.0878" cy="754.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="549" x="8185.0878" y="757.5308">urtServiceDispatch (service : urt_service_t*, payload : void*, bytes : size_t) : urt_baserequest_t*</text><ellipse cx="8176.0878" cy="767.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="552" x="8185.0878" y="770.3354">urtServiceAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="8176.0878" cy="779.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="8185.0878" y="783.1401">urtServiceTryAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="8176.0878" cy="792.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="365" x="8185.0878" y="795.9448">urtServiceRespond (request : urt_baserequest_t*) : urt_status_t</text><!--MD5=[7294e1cfaeb111bef046bc5d07a96458]
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stroke-width: 1.5;" x1="8815.0878" x2="9037.0878" y1="600.8594" y2="600.8594"/><ellipse cx="8825.0878" cy="611.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="147" x="8834.0878" y="615.0698">prev : urt_baserequest_t*</text><ellipse cx="8825.0878" cy="624.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="8834.0878" y="627.8745">next : urt_baserequest_t*</text><ellipse cx="8825.0878" cy="637.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="8834.0878" y="640.6792">lock : urt_osMutex_t</text><ellipse cx="8825.0878" cy="650.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="126" x="8834.0878" y="653.4839">owner : urt_service_t*</text><ellipse cx="8825.0878" cy="663.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="8834.0878" y="666.2886">submissionTime : urt_osTime_t</text><ellipse cx="8825.0878" cy="675.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="8834.0878" y="679.0933">payload : void*</text><ellipse cx="8825.0878" cy="688.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="8834.0878" y="691.8979">evtSource : urt_osEventSource_t</text><ellipse cx="8825.0878" cy="701.4922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="8834.0878" y="704.7026">evtListener : urt_osEventListener_t</text><ellipse cx="8825.0878" cy="731.1016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="8834.0878" y="734.312">sumLatencies : uint64_t</text><ellipse cx="8825.0878" cy="743.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="110" x="8834.0878" y="747.1167">numCalls : uint64_t</text><ellipse cx="8825.0878" cy="756.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="108" x="8834.0878" y="759.9214">numFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8815.0878" x2="8830.0878" y1="717.6992" y2="717.6992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="8830.0878" y="721.0073">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; 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-link urt_osEventListener_t to urt_osEventFlags_t--><path d="M1953.0878,1419.0894 C1953.0878,1480.9523 1953.0878,1593.1002 1953.0878,1646.1054 " fill="none" id="urt_osEventListener_t-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1953.0878,1651.3529,1957.0878,1642.3529,1953.0878,1646.3529,1949.0878,1642.3529,1953.0878,1651.3529" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[eac11679f26c499aa1c571e1f795945d]
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+class urt_usefulness_f--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="60.8047" id="urt_usefulness_f" style="stroke: #A80036; stroke-width: 1.5;" width="334" x="6965.8161" y="1057.3594"/><ellipse cx="7077.5661" cy="1073.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7081.8005,1069.125 L7076.5192,1069.125 L7076.5192,1071.7969 L7081.3161,1071.7969 L7081.3161,1073.9531 L7076.5192,1073.9531 L7076.5192,1079.3594 L7074.0817,1079.3594 L7074.0817,1066.9688 L7081.8005,1066.9688 L7081.8005,1069.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="7098.0661" y="1077.5137">urt_usefulness_f</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6966.8161" x2="7298.8161" y1="1089.3594" y2="1089.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6966.8161" x2="7298.8161" y1="1097.3594" y2="1097.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="322" x="6971.8161" y="1111.5698">urt_usefulness_f (dt : urt_delay_t, params : void*) : float</text><!--MD5=[3677786d1f00795918091b0110bfa4af]
+class urt_osTime_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="86.4141" id="urt_osTime_t" style="stroke: #A80036; stroke-width: 1.5;" width="385" x="5715.3161" y="1044.8594"/><ellipse cx="5864.0661" cy="1060.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5864.9099,1067.6094 L5862.4567,1067.6094 L5862.4567,1057.3594 L5859.3161,1057.3594 L5859.3161,1055.2188 L5868.0505,1055.2188 L5868.0505,1057.3594 L5864.9099,1057.3594 L5864.9099,1067.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="5884.5661" y="1065.0137">urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5716.3161" x2="6099.3161" y1="1076.8594" y2="1076.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5716.3161" x2="6099.3161" y1="1084.8594" y2="1084.8594"/><ellipse cx="5726.3161" cy="1095.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="231" x="5735.3161" y="1099.0698">urtTime2Us (t : urt_osTime_t*) : uint64_t</text><ellipse cx="5726.3161" cy="1108.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="5735.3161" y="1111.8745">urtTimeNow (void) : urt_osTime_t</text><ellipse cx="5726.3161" cy="1121.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="359" x="5735.3161" y="1124.6792">urtTimeAddUs (time : urt_osTime_t*, offset : urt_delay_t) : void</text><!--MD5=[532279a7a1cac9af7f32856ca2ae6b9b]
+class urt_osMutex_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="99.2188" id="urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.5;" width="298" x="4636.8161" y="1038.3594"/><ellipse cx="4738.0661" cy="1054.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4738.9099,1061.1094 L4736.4567,1061.1094 L4736.4567,1050.8594 L4733.3161,1050.8594 L4733.3161,1048.7188 L4742.0505,1048.7188 L4742.0505,1050.8594 L4738.9099,1050.8594 L4738.9099,1061.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="87" x="4758.5661" y="1058.5137">urt_osMutex_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4637.8161" x2="4933.8161" y1="1070.3594" y2="1070.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4637.8161" x2="4933.8161" y1="1078.3594" y2="1078.3594"/><ellipse cx="4647.8161" cy="1089.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="245" x="4656.8161" y="1092.5698">urtMutexInit (mutex : urt_osMutex_t*) : void</text><ellipse cx="4647.8161" cy="1102.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="253" x="4656.8161" y="1105.3745">urtMutexLock (mutex : urt_osMutex_t*) : void</text><ellipse cx="4647.8161" cy="1114.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="4656.8161" y="1118.1792">urtMutexTryLock (mutex : urt_osMutex_t*) : bool</text><ellipse cx="4647.8161" cy="1127.7734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="4656.8161" y="1130.9839">urtMutexUnlock (mutex : urt_osMutex_t*) : void</text><!--MD5=[52fa11869cb40c93fa7702378ddd839e]
+class urt_osCondvarWaitStatus_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="86.4141" id="urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.5;" width="270" x="5189.8161" y="1361.3594"/><ellipse cx="5236.0661" cy="1377.3594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5240.1755,1383.3594 L5232.4567,1383.3594 L5232.4567,1370.9688 L5240.1755,1370.9688 L5240.1755,1373.125 L5234.9099,1373.125 L5234.9099,1375.7969 L5239.6755,1375.7969 L5239.6755,1377.9531 L5234.9099,1377.9531 L5234.9099,1381.2031 L5240.1755,1381.2031 L5240.1755,1383.3594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="169" x="5256.5661" y="1381.5137">urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5190.8161" x2="5458.8161" y1="1393.3594" y2="1393.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="5195.8161" y="1407.5698">URT_CONDVAR_WAITSTATUS_SIGNAL = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="5195.8161" y="1420.3745">URT_CONDVAR_WAITSTATUS_BROADCAST = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="239" x="5195.8161" y="1433.1792">URT_CONDVAR_WAITSTATUS_TIMEOUT = 0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5190.8161" x2="5458.8161" y1="1439.7734" y2="1439.7734"/><!--MD5=[004fc5dee471033e8e4138c1c73f0692]
+class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="137.6328" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="710" x="4969.8161" y="1018.8594"/><ellipse cx="5270.0661" cy="1034.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5270.9099,1041.6094 L5268.4567,1041.6094 L5268.4567,1031.3594 L5265.3161,1031.3594 L5265.3161,1029.2188 L5274.0505,1029.2188 L5274.0505,1031.3594 L5270.9099,1031.3594 L5270.9099,1041.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="5290.5661" y="1039.0137">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4970.8161" x2="5678.8161" y1="1050.8594" y2="1050.8594"/><ellipse cx="4980.8161" cy="1061.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="283" x="4989.8161" y="1065.0698">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4980.8161" cy="1074.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="301" x="4989.8161" y="1077.8745">urtCondvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4980.8161" cy="1087.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="324" x="4989.8161" y="1090.6792">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4980.8161" cy="1117.0781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="559" x="4989.8161" y="1120.2886">urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*) : urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4970.8161" x2="5196.3161" y1="1103.6758" y2="1103.6758"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="257" x="5196.3161" y="1106.9839">URT_CFG_OSAL_CONDVAR_TIMEOUT == false</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5453.3161" x2="5678.8161" y1="1103.6758" y2="1103.6758"/><ellipse cx="4980.8161" cy="1146.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="684" x="4989.8161" y="1149.8979">urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4970.8161" x2="5198.8161" y1="1133.2852" y2="1133.2852"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="252" x="5198.8161" y="1136.5933">URT_CFG_OSAL_CONDVAR_TIMEOUT == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5450.8161" x2="5678.8161" y1="1133.2852" y2="1133.2852"/><!--MD5=[93799a03260ba286abda700174f4f205]
+class urt_osTimerCallback_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="4089.8161" y="1373.8594"/><ellipse cx="4160.5661" cy="1389.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4161.4099,1396.6094 L4158.9567,1396.6094 L4158.9567,1386.3594 L4155.8161,1386.3594 L4155.8161,1384.2188 L4164.5505,1384.2188 L4164.5505,1386.3594 L4161.4099,1386.3594 L4161.4099,1396.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="4181.0661" y="1394.0137">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4090.8161" x2="4374.8161" y1="1405.8594" y2="1405.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4090.8161" x2="4374.8161" y1="1413.8594" y2="1413.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="4095.8161" y="1428.0698">urt_osTimerCallback_t (parameter : void*) : void</text><!--MD5=[0b340d7b925b1eab6a1b7e084f68a7c2]
+class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="112.0234" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="737" x="3864.3161" y="1031.8594"/><ellipse cx="4186.5661" cy="1047.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4187.4099,1054.6094 L4184.9567,1054.6094 L4184.9567,1044.3594 L4181.8161,1044.3594 L4181.8161,1042.2188 L4190.5505,1042.2188 L4190.5505,1044.3594 L4187.4099,1044.3594 L4187.4099,1054.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="4207.0661" y="1052.0137">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3865.3161" x2="4600.3161" y1="1063.8594" y2="1063.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3865.3161" x2="4600.3161" y1="1071.8594" y2="1071.8594"/><ellipse cx="3875.3161" cy="1082.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="3884.3161" y="1086.0698">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="3875.3161" cy="1095.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="660" x="3884.3161" y="1098.8745">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void</text><ellipse cx="3875.3161" cy="1108.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="711" x="3884.3161" y="1111.6792">urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void</text><ellipse cx="3875.3161" cy="1121.2734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="255" x="3884.3161" y="1124.4839">urtTimerReset (timer : urt_osTimer_t*) : void</text><ellipse cx="3875.3161" cy="1134.0781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3884.3161" y="1137.2886">urtTimerIsArmed (timer : urt_osTimer_t*) : bool</text><!--MD5=[86c16d91227b9a9ec3b6b9b0285de4e9]
+class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="150.4375" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="197" x="3365.3161" y="1329.3594"/><ellipse cx="3401.4661" cy="1345.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3402.3099,1352.1094 L3399.8567,1352.1094 L3399.8567,1341.8594 L3396.7161,1341.8594 L3396.7161,1339.7188 L3405.4505,1339.7188 L3405.4505,1341.8594 L3402.3099,1341.8594 L3402.3099,1352.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="3420.1661" y="1349.5137">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3366.3161" x2="3561.3161" y1="1361.3594" y2="1361.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="3371.3161" y="1375.5698">URT_THREAD_PRIO_LOW_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="163" x="3371.3161" y="1388.3745">URT_THREAD_PRIO_LOW_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="3371.3161" y="1401.1792">URT_THREAD_PRIO_NORMAL_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="3371.3161" y="1413.9839">URT_THREAD_PRIO_NORMAL_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="3371.3161" y="1426.7886">URT_THREAD_PRIO_HIGH_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="3371.3161" y="1439.5933">URT_THREAD_PRIO_HIGH_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="3371.3161" y="1452.3979">URT_THREAD_PRIO_RT_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="3371.3161" y="1465.2026">URT_THREAD_PRIO_RT_MAX</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3366.3161" x2="3561.3161" y1="1471.7969" y2="1471.7969"/><!--MD5=[69d8aab9aa387a2f5052ea3da80e80ea]
+class urt_osThreadFunction_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="60.8047" id="urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="2816.8161" y="1373.8594"/><ellipse cx="2864.5661" cy="1389.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2865.4099,1396.6094 L2862.9567,1396.6094 L2862.9567,1386.3594 L2859.8161,1386.3594 L2859.8161,1384.2188 L2868.5505,1384.2188 L2868.5505,1386.3594 L2865.4099,1386.3594 L2865.4099,1396.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="2885.0661" y="1394.0137">urt_osThreadFunction_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2817.8161" x2="3067.8161" y1="1405.8594" y2="1405.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2817.8161" x2="3067.8161" y1="1413.8594" y2="1413.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="2822.8161" y="1428.0698">urt_osThreadFunction_t (arg : void*) : void</text><!--MD5=[ab5f611d45c3fa10609c33f780d8c3e1]
+class urt_osThreadTerminateSignal_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="73.6094" id="urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.5;" width="242" x="3597.8161" y="1367.3594"/><ellipse cx="3619.5661" cy="1383.3594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3623.6755,1389.3594 L3615.9567,1389.3594 L3615.9567,1376.9688 L3623.6755,1376.9688 L3623.6755,1379.125 L3618.4099,1379.125 L3618.4099,1381.7969 L3623.1755,1381.7969 L3623.1755,1383.9531 L3618.4099,1383.9531 L3618.4099,1387.2031 L3623.6755,1387.2031 L3623.6755,1389.3594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="3635.0661" y="1387.5137">urt_osThreadTerminateSignal_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3598.8161" x2="3838.8161" y1="1399.3594" y2="1399.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="3603.8161" y="1413.5698">URT_THREAD_TERMINATE_REQUEST = 15</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="3603.8161" y="1426.3745">URT_THREAD_TERMINATE_KILL = 9</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3598.8161" x2="3838.8161" y1="1432.9688" y2="1432.9688"/><!--MD5=[47d14ad2c233fae1b32b8d0a283e820a]
+class urt_osThreadState_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="137.6328" id="urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="3103.8161" y="1335.3594"/><ellipse cx="3148.5661" cy="1351.3594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3152.6755,1357.3594 L3144.9567,1357.3594 L3144.9567,1344.9688 L3152.6755,1344.9688 L3152.6755,1347.125 L3147.4099,1347.125 L3147.4099,1349.7969 L3152.1755,1349.7969 L3152.1755,1351.9531 L3147.4099,1351.9531 L3147.4099,1355.2031 L3152.6755,1355.2031 L3152.6755,1357.3594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="128" x="3169.0661" y="1355.5137">urt_osThreadState_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3104.8161" x2="3328.8161" y1="1367.3594" y2="1367.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="3109.8161" y="1381.5698">URT_THREAD_STATE_INACTIVE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="3109.8161" y="1394.3745">URT_THREAD_STATE_RUNNING = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="3109.8161" y="1407.1792">URT_THREAD_STATE_READY = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="3109.8161" y="1419.9839">URT_THREAD_STATE_SLEEPING = 3</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="3109.8161" y="1432.7886">URT_THREAD_STATE_SUSPENDED = 4</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="3109.8161" y="1445.5933">URT_THREAD_STATE_WAITING = 5</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="214" x="3109.8161" y="1458.3979">URT_THREAD_STATE_TERMINATED = 6</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3104.8161" x2="3328.8161" y1="1464.9922" y2="1464.9922"/><!--MD5=[0a16224ede9ffa9bb2d34e085a076e6d]
+class urt_osThread_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="363.3125" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="778" x="3050.8161" y="906.3594"/><ellipse cx="3388.5661" cy="922.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3389.4099,929.1094 L3386.9567,929.1094 L3386.9567,918.8594 L3383.8161,918.8594 L3383.8161,916.7188 L3392.5505,916.7188 L3392.5505,918.8594 L3389.4099,918.8594 L3389.4099,929.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="3409.0661" y="926.5137">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3051.8161" x2="3827.8161" y1="938.3594" y2="938.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="3056.8161" y="952.5698">URT_THREAD_SLEEP_MAX : float</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="3056.8161" y="965.3745">URT_THREAD_SSLEP_MAX : unsigned int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="3056.8161" y="978.1792">URT_THREAD_MSLEEP_MAX : unsigned int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="3056.8161" y="990.9839">URT_THREAD_USLEEP_MAX : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="3051.8161" x2="3827.8161" y1="997.5781" y2="997.5781"/><ellipse cx="3061.8161" cy="1008.5781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="248" x="3070.8161" y="1011.7886">URT_THREAD_MEMORY (varname, stacksize)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3051.8161" x2="3827.8161" y1="1018.3828" y2="1018.3828"/><ellipse cx="3061.8161" cy="1029.3828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="752" x="3070.8161" y="1032.5933">urtThreadInit (memory : void*, size : size_t, prio : urt_osThreadPrio_t, func : urt_osThreadFunction_t*, arg : void*) : urt_osThread_t*</text><ellipse cx="3061.8161" cy="1042.1875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="3070.8161" y="1045.3979">urtThreadStart (thread : urt_osThread_t*) : void</text><ellipse cx="3061.8161" cy="1054.9922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="3070.8161" y="1058.2026">urtThreadYield (void) : void</text><ellipse cx="3061.8161" cy="1067.7969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3070.8161" y="1071.0073">urtThreadGetPriority (void) : urt_osThreadPrio_t</text><ellipse cx="3061.8161" cy="1080.6016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="304" x="3070.8161" y="1083.812">urtThreadSetPriority (prio : urt_osThreadPrio_t) : void</text><ellipse cx="3061.8161" cy="1093.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="220" x="3070.8161" y="1096.6167">urtThreadSleep (seconds : float) : void</text><ellipse cx="3061.8161" cy="1106.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="273" x="3070.8161" y="1109.4214">urtThreadSSleep (seconds : unsigned int) : void</text><ellipse cx="3061.8161" cy="1119.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="3070.8161" y="1122.2261">urtThreadMSleep (milliseconds : unsigned int) : void</text><ellipse cx="3061.8161" cy="1131.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="3070.8161" y="1135.0308">urtThreadUSleep (microseconds : urt_delay_t) : void</text><ellipse cx="3061.8161" cy="1144.625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3070.8161" y="1147.8354">urtThreadSleepUntil (time : urt_osTime_t) : void</text><ellipse cx="3061.8161" cy="1157.4297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="3070.8161" y="1160.6401">urtThreadExit (void) : void</text><ellipse cx="3061.8161" cy="1170.2344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="518" x="3070.8161" y="1173.4448">urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void</text><ellipse cx="3061.8161" cy="1183.0391" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="3070.8161" y="1186.2495">urtThreadShouldTerminate (void) : bool</text><ellipse cx="3061.8161" cy="1195.8438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="264" x="3070.8161" y="1199.0542">urtThreadJoin (thread : urt_osThread_t*) : void</text><ellipse cx="3061.8161" cy="1208.6484" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="387" x="3070.8161" y="1211.8589">urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t</text><ellipse cx="3061.8161" cy="1221.4531" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="237" x="3070.8161" y="1224.6636">urtThreadGetSelf (void) : urt_osThread_t*</text><ellipse cx="3061.8161" cy="1234.2578" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="3070.8161" y="1237.4683">urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="3061.8161" cy="1247.0625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="3070.8161" y="1250.2729">urtThreadGetSibling (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="3061.8161" cy="1259.8672" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="3070.8161" y="1263.0776">urtThreadGetParent (thread : urt_osThread_t*) : urt_osThread_t*</text><!--MD5=[0a4e0f34d8da0ad3ed6ecf72f02e09c8]
+class urt_osEventMask_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="60.8047" id="urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.5;" width="280" x="2501.8161" y="1373.8594"/><ellipse cx="2579.0661" cy="1389.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2579.9099,1396.6094 L2577.4567,1396.6094 L2577.4567,1386.3594 L2574.3161,1386.3594 L2574.3161,1384.2188 L2583.0505,1384.2188 L2583.0505,1386.3594 L2579.9099,1386.3594 L2579.9099,1396.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="2599.5661" y="1394.0137">urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2502.8161" x2="2780.8161" y1="1405.8594" y2="1405.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="268" x="2507.8161" y="1420.0698">URT_EVENTMASK_MAXPRIO : urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2502.8161" x2="2780.8161" y1="1426.6641" y2="1426.6641"/><!--MD5=[dc1cc33af288560680c15dec1e56eda0]
+class urt_osEventFlags_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="48" id="urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.5;" width="150" x="1910.8161" y="1679.8594"/><ellipse cx="1925.8161" cy="1695.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1926.6599,1702.6094 L1924.2067,1702.6094 L1924.2067,1692.3594 L1921.0661,1692.3594 L1921.0661,1690.2188 L1929.8005,1690.2188 L1929.8005,1692.3594 L1926.6599,1692.3594 L1926.6599,1702.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="1939.8161" y="1700.0137">urt_osEventFlags_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1911.8161" x2="2059.8161" y1="1711.8594" y2="1711.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1911.8161" x2="2059.8161" y1="1719.8594" y2="1719.8594"/><!--MD5=[e2bbbd64e6979bf7b755747a6c0ba948]
+class urt_osEventWait_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="86.4141" id="urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.5;" width="162" x="2267.8161" y="1361.3594"/><ellipse cx="2290.9161" cy="1377.3594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2295.0255,1383.3594 L2287.3067,1383.3594 L2287.3067,1370.9688 L2295.0255,1370.9688 L2295.0255,1373.125 L2289.7599,1373.125 L2289.7599,1375.7969 L2294.5255,1375.7969 L2294.5255,1377.9531 L2289.7599,1377.9531 L2289.7599,1381.2031 L2295.0255,1381.2031 L2295.0255,1383.3594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="2306.7161" y="1381.5137">urt_osEventWait_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2268.8161" x2="2428.8161" y1="1393.3594" y2="1393.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="2273.8161" y="1407.5698">URT_EVENT_WAIT_ONE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="148" x="2273.8161" y="1420.3745">URT_EVENT_WAIT_ANY = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="2273.8161" y="1433.1792">URT_EVENT_WAIT_ALL = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2268.8161" x2="2428.8161" y1="1439.7734" y2="1439.7734"/><!--MD5=[d054ac2eda12ce4b1fe5a18c9be716c1]
+class urt_osEventListener_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="86.4141" id="urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.5;" width="494" x="1738.8161" y="1361.3594"/><ellipse cx="1914.0661" cy="1377.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1914.9099,1384.1094 L1912.4567,1384.1094 L1912.4567,1373.8594 L1909.3161,1373.8594 L1909.3161,1371.7188 L1918.0505,1371.7188 L1918.0505,1373.8594 L1914.9099,1373.8594 L1914.9099,1384.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="1934.5661" y="1381.5137">urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1739.8161" x2="2231.8161" y1="1393.3594" y2="1393.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1739.8161" x2="2231.8161" y1="1401.3594" y2="1401.3594"/><ellipse cx="1749.8161" cy="1412.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="341" x="1758.8161" y="1415.5698">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="1749.8161" cy="1425.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="458" x="1758.8161" y="1428.3745">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="1749.8161" cy="1437.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="468" x="1758.8161" y="1441.1792">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--MD5=[4d6906f8b977dc26629fa492460e6327]
+class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.5;" width="547" x="1156.3161" y="1367.3594"/><ellipse cx="1361.0661" cy="1383.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1361.9099,1390.1094 L1359.4567,1390.1094 L1359.4567,1379.8594 L1356.3161,1379.8594 L1356.3161,1377.7188 L1365.0505,1377.7188 L1365.0505,1379.8594 L1361.9099,1379.8594 L1361.9099,1390.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="129" x="1381.5661" y="1387.5137">urt_osEventSource_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1157.3161" x2="1702.3161" y1="1399.3594" y2="1399.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1157.3161" x2="1702.3161" y1="1407.3594" y2="1407.3594"/><ellipse cx="1167.3161" cy="1418.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="325" x="1176.3161" y="1421.5698">urtEventSourceInit (source : urt_osEventSource_t*) : void</text><ellipse cx="1167.3161" cy="1431.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="521" x="1176.3161" y="1434.3745">urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void</text><!--MD5=[04a3b5a37031e2a4d723f19d8adf86f5]
+class urt_events--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="86.4141" id="urt_events" style="stroke: #A80036; stroke-width: 1.5;" width="845" x="1931.3161" y="1044.8594"/><ellipse cx="2316.5661" cy="1060.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2320.8005,1056.625 L2315.5192,1056.625 L2315.5192,1059.2969 L2320.3161,1059.2969 L2320.3161,1061.4531 L2315.5192,1061.4531 L2315.5192,1066.8594 L2313.0817,1066.8594 L2313.0817,1054.4688 L2320.8005,1054.4688 L2320.8005,1056.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="2337.0661" y="1065.0137">urt_events</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1932.3161" x2="2775.3161" y1="1076.8594" y2="1076.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1932.3161" x2="2775.3161" y1="1084.8594" y2="1084.8594"/><ellipse cx="1942.3161" cy="1095.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="819" x="1951.3161" y="1099.0698">urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : void</text><ellipse cx="1942.3161" cy="1108.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="522" x="1951.3161" y="1111.8745">urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : void</text><ellipse cx="1942.3161" cy="1121.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="618" x="1951.3161" y="1124.6792">urtEventWait (mask : urt_osEventMask_t, type : urt_osEventWait_t, timeout : urt_delay_t) : urt_osEventMask_t</text><!--MD5=[0cf29100c96c506429a28b45d347cc92]
+class urt_streams--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="73.6094" id="urt_streams" style="stroke: #A80036; stroke-width: 1.5;" width="213" x="919.3161" y="1050.8594"/><ellipse cx="984.0661" cy="1066.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M988.3005,1062.625 L983.0192,1062.625 L983.0192,1065.2969 L987.8161,1065.2969 L987.8161,1067.4531 L983.0192,1067.4531 L983.0192,1072.8594 L980.5817,1072.8594 L980.5817,1060.4688 L988.3005,1060.4688 L988.3005,1062.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="1004.5661" y="1071.0137">urt_streams</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="920.3161" x2="1131.3161" y1="1082.8594" y2="1082.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="920.3161" x2="1131.3161" y1="1090.8594" y2="1090.8594"/><ellipse cx="930.3161" cy="1101.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="170" x="939.3161" y="1105.0698">urtPrintf (fmt : char*, ... ) : int</text><ellipse cx="930.3161" cy="1114.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="187" x="939.3161" y="1117.8745">urtErrPrintf (fmt : char*, ... ) : int</text><!--MD5=[f106a25c06a671b3918b1a8f37571a4d]
+class urt_debug--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="60.8047" id="urt_debug" style="stroke: #A80036; stroke-width: 1.5;" width="249" x="635.3161" y="1057.3594"/><ellipse cx="723.5661" cy="1073.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M727.8005,1069.125 L722.5192,1069.125 L722.5192,1071.7969 L727.3161,1071.7969 L727.3161,1073.9531 L722.5192,1073.9531 L722.5192,1079.3594 L720.0817,1079.3594 L720.0817,1066.9688 L727.8005,1066.9688 L727.8005,1069.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="64" x="744.0661" y="1077.5137">urt_debug</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="636.3161" x2="883.3161" y1="1089.3594" y2="1089.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="636.3161" x2="883.3161" y1="1097.3594" y2="1097.3594"/><ellipse cx="646.3161" cy="1108.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="223" x="655.3161" y="1111.5698">urtDebugAssert (condition : bool) : void</text><!--MD5=[89d25e87afdd75480e1ec2bd05524873]
+class urt_core_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="384.1172" id="urt_core_t" style="stroke: #A80036; stroke-width: 1.5;" width="371" x="7840.3161" y="110.8594"/><ellipse cx="7990.0661" cy="126.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7989.5505,127.4219 Q7987.6911,126.7188 7987.0349,125.9531 Q7986.3942,125.1719 7986.3942,123.8594 Q7986.3942,122.1719 7987.4724,121.2031 Q7988.5505,120.2344 7990.4255,120.2344 Q7991.2849,120.2344 7992.1286,120.4375 Q7992.988,120.625 7993.8317,121.0156 L7993.8317,123.4063 Q7993.0505,122.8438 7992.2224,122.5625 Q7991.4099,122.2656 7990.613,122.2656 Q7989.738,122.2656 7989.2536,122.625 Q7988.7849,122.9844 7988.7849,123.6406 Q7988.7849,124.1563 7989.1286,124.5 Q7989.4724,124.8281 7990.5661,125.2344 L7991.6286,125.6406 Q7993.113,126.1875 7993.8161,127.0938 Q7994.5349,128 7994.5349,129.375 Q7994.5349,131.25 7993.4255,132.1719 Q7992.3161,133.0938 7990.0661,133.0938 Q7989.1442,133.0938 7988.2224,132.875 Q7987.3005,132.6563 7986.4411,132.2344 L7986.4411,129.7031 Q7987.4099,130.3906 7988.3317,130.7344 Q7989.2536,131.0781 7990.1442,131.0781 Q7991.0505,131.0781 7991.5505,130.6719 Q7992.0505,130.25 7992.0505,129.5156 Q7992.0505,128.9531 7991.7067,128.5469 Q7991.3786,128.125 7990.7536,127.875 L7989.5505,127.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="63" x="8010.5661" y="131.0137">urt_core_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7841.3161" x2="8210.3161" y1="142.8594" y2="142.8594"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7848.3161" y="150.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="7860.3161" y="157.0698">_nodes : urt_node_t*</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7848.3161" y="163.6641"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="192" x="7860.3161" y="169.8745">_evtSource : urt_osEventSource_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7848.3161" y="176.4688"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="7860.3161" y="182.6792">_lock : urt_osMutex_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7848.3161" y="189.2734"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="122" x="7860.3161" y="195.4839">_status : urt_status_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7848.3161" y="218.8828"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="117" x="7860.3161" y="225.0933">_topics : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7841.3161" x2="7920.8161" y1="208.4805" y2="208.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="7920.8161" y="211.7886">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8130.8161" x2="8210.3161" y1="208.4805" y2="208.4805"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7848.3161" y="248.4922"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="145" x="7860.3161" y="254.7026">_services : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7841.3161" x2="7933.3161" y1="238.0898" y2="238.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="7933.3161" y="241.3979">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8118.3161" x2="8210.3161" y1="238.0898" y2="238.0898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7841.3161" x2="8210.3161" y1="261.2969" y2="261.2969"/><ellipse cx="7851.3161" cy="272.2969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="130" x="7860.3161" y="275.5073">urtCoreInit (void) : void</text><ellipse cx="7851.3161" cy="285.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="215" x="7860.3161" y="288.312">urtCoreGetStatus (void) : urt_status_t</text><ellipse cx="7851.3161" cy="297.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="276" x="7860.3161" y="301.1167">urtCoreGetEventMask (void) : urt_osEventMask_t</text><ellipse cx="7851.3161" cy="310.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="290" x="7860.3161" y="313.9214">urtCoreGetEvtSource (void) : urt_osEventSource_t*</text><ellipse cx="7851.3161" cy="323.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="177" x="7860.3161" y="326.7261">urtCoreStartNodes (void) : void</text><ellipse cx="7851.3161" cy="336.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="345" x="7860.3161" y="339.5308">urtCoreSynchronizeNodes (node : urt_node_t*) : urt_status_t</text><ellipse cx="7851.3161" cy="349.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="317" x="7860.3161" y="352.3354">urtCoreStopNodes (reason : urt_status_t) : urt_status_t</text><ellipse cx="7851.3161" cy="361.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="304" x="7860.3161" y="365.1401">urtCoreGetEventSource (void) : urt_osEventSource_t*</text><ellipse cx="7851.3161" cy="374.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="228" x="7860.3161" y="377.9448">urtCoreGetMutex (void) : urt_osMutex_t*</text><ellipse cx="7851.3161" cy="387.5391" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="212" x="7860.3161" y="390.7495">urtCoreGetNodes (void) : urt_node_t*</text><ellipse cx="7851.3161" cy="400.3438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="7860.3161" y="403.5542">urtCoreAddNode (node : urt_node_t*) : void</text><ellipse cx="7851.3161" cy="429.9531" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="273" x="7860.3161" y="433.1636">urtCoreGetTopic (id : urt_topicid_t) : urt_topic_t*</text><ellipse cx="7851.3161" cy="442.7578" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="245" x="7860.3161" y="445.9683">urtCoreAddTopic (topic : urt_topic_t*) : void</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7841.3161" x2="7920.8161" y1="416.5508" y2="416.5508"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="7920.8161" y="419.8589">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8130.8161" x2="8210.3161" y1="416.5508" y2="416.5508"/><ellipse cx="7851.3161" cy="472.3672" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="284" x="7860.3161" y="475.5776">urtCoreGetService (service : urt_service_t*) : void</text><ellipse cx="7851.3161" cy="485.1719" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="314" x="7860.3161" y="488.3823">urtCoreAddService (id : urt_serviceid_t) : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7841.3161" x2="7933.3161" y1="458.9648" y2="458.9648"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="7933.3161" y="462.2729">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8118.3161" x2="8210.3161" y1="458.9648" y2="458.9648"/><!--MD5=[a7dea26996a1231aa68629b332780450]
+class urt_nodeSetupCallback_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="60.8047" id="urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="456" x="17720.8161" y="1057.3594"/><ellipse cx="17866.5661" cy="1073.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17867.4099,1080.1094 L17864.9567,1080.1094 L17864.9567,1069.8594 L17861.8161,1069.8594 L17861.8161,1067.7188 L17870.5505,1067.7188 L17870.5505,1069.8594 L17867.4099,1069.8594 L17867.4099,1080.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="17887.0661" y="1077.5137">urt_nodeSetupCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="17721.8161" x2="18175.8161" y1="1089.3594" y2="1089.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="17721.8161" x2="18175.8161" y1="1097.3594" y2="1097.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="444" x="17726.8161" y="1111.5698">urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t</text><!--MD5=[7f869e17e281b89d59a4c09e0f22c3af]
+class urt_nodeLoopCallback_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="60.8047" id="urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="614" x="17071.8161" y="1057.3594"/><ellipse cx="17300.0661" cy="1073.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17300.9099,1080.1094 L17298.4567,1080.1094 L17298.4567,1069.8594 L17295.3161,1069.8594 L17295.3161,1067.7188 L17304.0505,1067.7188 L17304.0505,1069.8594 L17300.9099,1069.8594 L17300.9099,1080.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="17320.5661" y="1077.5137">urt_nodeLoopCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="17072.8161" x2="17684.8161" y1="1089.3594" y2="1089.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="17072.8161" x2="17684.8161" y1="1097.3594" y2="1097.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="602" x="17077.8161" y="1111.5698">urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_osEventMask_t</text><!--MD5=[843db13320bebc2ca47f25c6a57c2ae5]
+class urt_nodeShutdownCallback_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="60.8047" id="urt_nodeShutdownCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="518" x="18211.8161" y="1057.3594"/><ellipse cx="18376.0661" cy="1073.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M18376.9099,1080.1094 L18374.4567,1080.1094 L18374.4567,1069.8594 L18371.3161,1069.8594 L18371.3161,1067.7188 L18380.0505,1067.7188 L18380.0505,1069.8594 L18376.9099,1069.8594 L18376.9099,1080.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="181" x="18396.5661" y="1077.5137">urt_nodeShutdownCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="18212.8161" x2="18728.8161" y1="1089.3594" y2="1089.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="18212.8161" x2="18728.8161" y1="1097.3594" y2="1097.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="506" x="18217.8161" y="1111.5698">urt_nodeShutdownCallback_t (node : urt_node_t*, cause : urt_status_t, arg : void*) : void</text><!--MD5=[d2563153d77472384a15c07b815d639f]
+class urt_node_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="231.2656" id="urt_node_t" style="stroke: #A80036; stroke-width: 1.5;" width="1541" x="17075.3161" y="580.8594"/><ellipse cx="17808.0661" cy="596.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17807.5505,597.4219 Q17805.6911,596.7188 17805.0349,595.9531 Q17804.3942,595.1719 17804.3942,593.8594 Q17804.3942,592.1719 17805.4724,591.2031 Q17806.5505,590.2344 17808.4255,590.2344 Q17809.2849,590.2344 17810.1286,590.4375 Q17810.988,590.625 17811.8317,591.0156 L17811.8317,593.4063 Q17811.0505,592.8438 17810.2224,592.5625 Q17809.4099,592.2656 17808.613,592.2656 Q17807.738,592.2656 17807.2536,592.625 Q17806.7849,592.9844 17806.7849,593.6406 Q17806.7849,594.1563 17807.1286,594.5 Q17807.4724,594.8281 17808.5661,595.2344 L17809.6286,595.6406 Q17811.113,596.1875 17811.8161,597.0938 Q17812.5349,598 17812.5349,599.375 Q17812.5349,601.25 17811.4255,602.1719 Q17810.3161,603.0938 17808.0661,603.0938 Q17807.1442,603.0938 17806.2224,602.875 Q17805.3005,602.6563 17804.4411,602.2344 L17804.4411,599.7031 Q17805.4099,600.3906 17806.3317,600.7344 Q17807.2536,601.0781 17808.1442,601.0781 Q17809.0505,601.0781 17809.5505,600.6719 Q17810.0505,600.25 17810.0505,599.5156 Q17810.0505,598.9531 17809.7067,598.5469 Q17809.3786,598.125 17808.7536,597.875 L17807.5505,597.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="67" x="17828.5661" y="601.0137">urt_node_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="17076.3161" x2="18615.3161" y1="612.8594" y2="612.8594"/><ellipse cx="17086.3161" cy="623.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="102" x="17095.3161" y="627.0698">next : urt_node_t*</text><ellipse cx="17086.3161" cy="636.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="17095.3161" y="639.8745">thread : urt_osThread_t*</text><ellipse cx="17086.3161" cy="649.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="17095.3161" y="652.6792">setupcallback : urt_nodeSetupCallback_t*</text><ellipse cx="17086.3161" cy="662.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="117" x="17095.3161" y="665.4839">setupparams : void*</text><ellipse cx="17086.3161" cy="675.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="221" x="17095.3161" y="678.2886">loopcallback : urt_nodeLoopCallback_t*</text><ellipse cx="17086.3161" cy="687.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="109" x="17095.3161" y="691.0933">loopparams : void*</text><ellipse cx="17086.3161" cy="700.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="281" x="17095.3161" y="703.8979">shutdowncallback : urt_nodeShutdownCallback_t*</text><ellipse cx="17086.3161" cy="713.4922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="140" x="17095.3161" y="716.7026">shutdownparams : void*</text><ellipse cx="17086.3161" cy="726.2969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="17095.3161" y="729.5073">stage : urt_nodestage_t</text><ellipse cx="17086.3161" cy="739.1016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="178" x="17095.3161" y="742.312">listener : urt_osEventListener_t</text><ellipse cx="17086.3161" cy="768.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="88" x="17095.3161" y="771.9214">loops : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="17076.3161" x2="17637.8161" y1="755.3086" y2="755.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="416" x="17637.8161" y="758.6167">URT_CFG_PUBSUB_PROFILING == true || URT_CFG_RPC_PROFILING = true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="18053.8161" x2="18615.3161" y1="755.3086" y2="755.3086"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="17076.3161" x2="18615.3161" y1="778.5156" y2="778.5156"/><rect fill="#F24D5C" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="17083.3161" y="786.5156"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="179" x="17095.3161" y="792.7261">_main : urt_osThreadFunction_t</text><ellipse cx="17086.3161" cy="802.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1515" x="17095.3161" y="805.5308">urtNodeInit (node : urt_node_t*, thread : urt_osThread_t*, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*, shutdowncallback : urt_nodeShutdownCallback_t*, shutodwnparams : void*) : void</text><!--MD5=[e602aa6d45f270ad04f88c9ca5352b33]
+class urt_message_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="141.6328" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="406" x="12701.8161" y="1333.3594"/><ellipse cx="12854.5661" cy="1349.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12854.0505,1349.9219 Q12852.1911,1349.2188 12851.5349,1348.4531 Q12850.8942,1347.6719 12850.8942,1346.3594 Q12850.8942,1344.6719 12851.9724,1343.7031 Q12853.0505,1342.7344 12854.9255,1342.7344 Q12855.7849,1342.7344 12856.6286,1342.9375 Q12857.488,1343.125 12858.3317,1343.5156 L12858.3317,1345.9063 Q12857.5505,1345.3438 12856.7224,1345.0625 Q12855.9099,1344.7656 12855.113,1344.7656 Q12854.238,1344.7656 12853.7536,1345.125 Q12853.2849,1345.4844 12853.2849,1346.1406 Q12853.2849,1346.6563 12853.6286,1347 Q12853.9724,1347.3281 12855.0661,1347.7344 L12856.1286,1348.1406 Q12857.613,1348.6875 12858.3161,1349.5938 Q12859.0349,1350.5 12859.0349,1351.875 Q12859.0349,1353.75 12857.9255,1354.6719 Q12856.8161,1355.5938 12854.5661,1355.5938 Q12853.6442,1355.5938 12852.7224,1355.375 Q12851.8005,1355.1563 12850.9411,1354.7344 L12850.9411,1352.2031 Q12851.9099,1352.8906 12852.8317,1353.2344 Q12853.7536,1353.5781 12854.6442,1353.5781 Q12855.5505,1353.5781 12856.0505,1353.1719 Q12856.5505,1352.75 12856.5505,1352.0156 Q12856.5505,1351.4531 12856.2067,1351.0469 Q12855.8786,1350.625 12855.2536,1350.375 L12854.0505,1349.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="12875.0661" y="1353.5137">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12702.8161" x2="13106.8161" y1="1365.3594" y2="1365.3594"/><ellipse cx="12712.8161" cy="1376.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="127" x="12721.8161" y="1379.5698">next : urt_message_t*</text><ellipse cx="12712.8161" cy="1389.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="12721.8161" y="1392.3745">payload : void*</text><ellipse cx="12712.8161" cy="1401.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="12721.8161" y="1405.1792">originTime : urt_osTime_t</text><ellipse cx="12712.8161" cy="1414.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="211" x="12721.8161" y="1417.9839">numHrtConsumersLeft : unsigned int</text><ellipse cx="12712.8161" cy="1444.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="12721.8161" y="1447.5933">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12702.8161" x2="12796.3161" y1="1430.9805" y2="1430.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12796.3161" y="1434.2886">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13013.3161" x2="13106.8161" y1="1430.9805" y2="1430.9805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="12702.8161" x2="13106.8161" y1="1454.1875" y2="1454.1875"/><ellipse cx="12712.8161" cy="1465.1875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="12721.8161" y="1468.3979">urtMessageInit (message : urt_message_t*, payload : void*) : void</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]
+class urt_publisher_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="196.0469" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="783" x="12175.3161" y="598.3594"/><ellipse cx="12516.0661" cy="614.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12515.5505,614.9219 Q12513.6911,614.2188 12513.0349,613.4531 Q12512.3942,612.6719 12512.3942,611.3594 Q12512.3942,609.6719 12513.4724,608.7031 Q12514.5505,607.7344 12516.4255,607.7344 Q12517.2849,607.7344 12518.1286,607.9375 Q12518.988,608.125 12519.8317,608.5156 L12519.8317,610.9063 Q12519.0505,610.3438 12518.2224,610.0625 Q12517.4099,609.7656 12516.613,609.7656 Q12515.738,609.7656 12515.2536,610.125 Q12514.7849,610.4844 12514.7849,611.1406 Q12514.7849,611.6563 12515.1286,612 Q12515.4724,612.3281 12516.5661,612.7344 L12517.6286,613.1406 Q12519.113,613.6875 12519.8161,614.5938 Q12520.5349,615.5 12520.5349,616.875 Q12520.5349,618.75 12519.4255,619.6719 Q12518.3161,620.5938 12516.0661,620.5938 Q12515.1442,620.5938 12514.2224,620.375 Q12513.3005,620.1563 12512.4411,619.7344 L12512.4411,617.2031 Q12513.4099,617.8906 12514.3317,618.2344 Q12515.2536,618.5781 12516.1442,618.5781 Q12517.0505,618.5781 12517.5505,618.1719 Q12518.0505,617.75 12518.0505,617.0156 Q12518.0505,616.4531 12517.7067,616.0469 Q12517.3786,615.625 12516.7536,615.375 L12515.5505,614.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="12536.5661" y="618.5137">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12176.3161" x2="12957.3161" y1="630.3594" y2="630.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="289" x="12181.3161" y="644.5698">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT : bool</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12176.3161" x2="12957.3161" y1="651.1641" y2="651.1641"/><ellipse cx="12186.3161" cy="662.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="12195.3161" y="665.3745">topic : urt_topic_t*</text><ellipse cx="12186.3161" cy="691.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="149" x="12195.3161" y="694.9839">publishAttempts : uint64_t</text><ellipse cx="12186.3161" cy="704.5781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="12195.3161" y="707.7886">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12176.3161" x2="12458.3161" y1="678.3711" y2="678.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12458.3161" y="681.6792">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12675.3161" x2="12957.3161" y1="678.3711" y2="678.3711"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="12176.3161" x2="12957.3161" y1="714.3828" y2="714.3828"/><ellipse cx="12186.3161" cy="725.3828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="572" x="12195.3161" y="728.5933">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : void</text><ellipse cx="12186.3161" cy="754.9922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="632" x="12195.3161" y="758.2026">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t) : urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12176.3161" x2="12413.3161" y1="741.5898" y2="741.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="307" x="12413.3161" y="744.8979">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == false</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12720.3161" x2="12957.3161" y1="741.5898" y2="741.5898"/><ellipse cx="12186.3161" cy="784.6016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="757" x="12195.3161" y="787.812">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12176.3161" x2="12415.8161" y1="771.1992" y2="771.1992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="302" x="12415.8161" y="774.5073">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12717.8161" x2="12957.3161" y1="771.1992" y2="771.1992"/><!--MD5=[a1b1e66ec52c209a9fa2dab315cd7630]
+class urt_topic_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="260.875" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="603" x="11519.3161" y="565.8594"/><ellipse cx="11783.5661" cy="581.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11783.0505,582.4219 Q11781.1911,581.7188 11780.5349,580.9531 Q11779.8942,580.1719 11779.8942,578.8594 Q11779.8942,577.1719 11780.9724,576.2031 Q11782.0505,575.2344 11783.9255,575.2344 Q11784.7849,575.2344 11785.6286,575.4375 Q11786.488,575.625 11787.3317,576.0156 L11787.3317,578.4063 Q11786.5505,577.8438 11785.7224,577.5625 Q11784.9099,577.2656 11784.113,577.2656 Q11783.238,577.2656 11782.7536,577.625 Q11782.2849,577.9844 11782.2849,578.6406 Q11782.2849,579.1563 11782.6286,579.5 Q11782.9724,579.8281 11784.0661,580.2344 L11785.1286,580.6406 Q11786.613,581.1875 11787.3161,582.0938 Q11788.0349,583 11788.0349,584.375 Q11788.0349,586.25 11786.9255,587.1719 Q11785.8161,588.0938 11783.5661,588.0938 Q11782.6442,588.0938 11781.7224,587.875 Q11780.8005,587.6563 11779.9411,587.2344 L11779.9411,584.7031 Q11780.9099,585.3906 11781.8317,585.7344 Q11782.7536,586.0781 11783.6442,586.0781 Q11784.5505,586.0781 11785.0505,585.6719 Q11785.5505,585.25 11785.5505,584.5156 Q11785.5505,583.9531 11785.2067,583.5469 Q11784.8786,583.125 11784.2536,582.875 L11783.0505,582.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="11804.0661" y="586.0137">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11520.3161" x2="12121.3161" y1="597.8594" y2="597.8594"/><ellipse cx="11530.3161" cy="608.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="11539.3161" y="612.0698">next : urt_topic_t*</text><ellipse cx="11530.3161" cy="621.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="11539.3161" y="624.8745">id : urt_topicid_t</text><ellipse cx="11530.3161" cy="634.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="11539.3161" y="637.6792">lock : urt_osMutex_t</text><ellipse cx="11530.3161" cy="647.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="11539.3161" y="650.4839">evtSource : urt_osEventSource_t</text><ellipse cx="11530.3161" cy="660.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="11539.3161" y="663.2886">numHrtSubscribers : unsigned int</text><ellipse cx="11530.3161" cy="672.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="11539.3161" y="676.0933">hrtReleased : urt_osCondvar_t</text><ellipse cx="11530.3161" cy="685.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="209" x="11539.3161" y="688.8979">mandatoryMessage : urt_message_t</text><ellipse cx="11530.3161" cy="698.4922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="11539.3161" y="701.7026">latestMessage : urt_message_t*</text><ellipse cx="11530.3161" cy="728.1016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="212" x="11539.3161" y="731.312">hrtSubscribers : urt_hrtsubscriber_t*</text><ellipse cx="11530.3161" cy="740.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="170" x="11539.3161" y="744.1167">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11520.3161" x2="11688.3161" y1="714.6992" y2="714.6992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="11688.3161" y="718.0073">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11953.3161" x2="12121.3161" y1="714.6992" y2="714.6992"/><ellipse cx="11530.3161" cy="770.5156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="11539.3161" y="773.7261">numMessagesPublished : uint64_t</text><ellipse cx="11530.3161" cy="783.3203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="11539.3161" y="786.5308">numMessagesDiscarded : uint64_t</text><ellipse cx="11530.3161" cy="796.125" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="11539.3161" y="799.3354">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11520.3161" x2="11712.3161" y1="757.1133" y2="757.1133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="11712.3161" y="760.4214">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11929.3161" x2="12121.3161" y1="757.1133" y2="757.1133"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11520.3161" x2="12121.3161" y1="805.9297" y2="805.9297"/><ellipse cx="11530.3161" cy="816.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="577" x="11539.3161" y="820.1401">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t, mandatoryMessage: urt_message_t*) : urt_status_t</text><!--MD5=[50a042e24f957794dab9ba3ea8701c50]
+class urt_basesubscriber_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="133.6328" id="urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="225" x="13066.3161" y="1020.8594"/><ellipse cx="13108.7661" cy="1036.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M13108.2505,1037.4219 Q13106.3911,1036.7188 13105.7349,1035.9531 Q13105.0942,1035.1719 13105.0942,1033.8594 Q13105.0942,1032.1719 13106.1724,1031.2031 Q13107.2505,1030.2344 13109.1255,1030.2344 Q13109.9849,1030.2344 13110.8286,1030.4375 Q13111.688,1030.625 13112.5317,1031.0156 L13112.5317,1033.4063 Q13111.7505,1032.8438 13110.9224,1032.5625 Q13110.1099,1032.2656 13109.313,1032.2656 Q13108.438,1032.2656 13107.9536,1032.625 Q13107.4849,1032.9844 13107.4849,1033.6406 Q13107.4849,1034.1563 13107.8286,1034.5 Q13108.1724,1034.8281 13109.2661,1035.2344 L13110.3286,1035.6406 Q13111.813,1036.1875 13112.5161,1037.0938 Q13113.2349,1038 13113.2349,1039.375 Q13113.2349,1041.25 13112.1255,1042.1719 Q13111.0161,1043.0938 13108.7661,1043.0938 Q13107.8442,1043.0938 13106.9224,1042.875 Q13106.0005,1042.6563 13105.1411,1042.2344 L13105.1411,1039.7031 Q13106.1099,1040.3906 13107.0317,1040.7344 Q13107.9536,1041.0781 13108.8442,1041.0781 Q13109.7505,1041.0781 13110.2505,1040.6719 Q13110.7505,1040.25 13110.7505,1039.5156 Q13110.7505,1038.9531 13110.4067,1038.5469 Q13110.0786,1038.125 13109.4536,1037.875 L13108.2505,1037.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="132" x="13128.8661" y="1041.0137">urt_basesubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="13067.3161" x2="13290.3161" y1="1052.8594" y2="1052.8594"/><ellipse cx="13077.3161" cy="1063.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="13086.3161" y="1067.0698">topic : urt_topic_t*</text><ellipse cx="13077.3161" cy="1076.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="13086.3161" y="1079.8745">evtListener : urt_osEventListener_t</text><ellipse cx="13077.3161" cy="1089.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="175" x="13086.3161" y="1092.6792">lastMessage : urt_message_t*</text><ellipse cx="13077.3161" cy="1102.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="13086.3161" y="1105.4839">lastMessageTime : urt_osTime_t</text><ellipse cx="13077.3161" cy="1131.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="13086.3161" y="1135.0933">sumLatencies : uint64_t</text><ellipse cx="13077.3161" cy="1144.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="13086.3161" y="1147.8979">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13067.3161" x2="13070.3161" y1="1118.4805" y2="1118.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="13070.3161" y="1121.7886">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13287.3161" x2="13290.3161" y1="1118.4805" y2="1118.4805"/><!--MD5=[9ff46073dd541e50679ef35e851c67d6]
+class urt_nrtsubscriber_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="154.4375" id="urt_nrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="821" x="15210.3161" y="619.3594"/><ellipse cx="15557.0661" cy="635.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M15556.5505,635.9219 Q15554.6911,635.2188 15554.0349,634.4531 Q15553.3942,633.6719 15553.3942,632.3594 Q15553.3942,630.6719 15554.4724,629.7031 Q15555.5505,628.7344 15557.4255,628.7344 Q15558.2849,628.7344 15559.1286,628.9375 Q15559.988,629.125 15560.8317,629.5156 L15560.8317,631.9063 Q15560.0505,631.3438 15559.2224,631.0625 Q15558.4099,630.7656 15557.613,630.7656 Q15556.738,630.7656 15556.2536,631.125 Q15555.7849,631.4844 15555.7849,632.1406 Q15555.7849,632.6563 15556.1286,633 Q15556.4724,633.3281 15557.5661,633.7344 L15558.6286,634.1406 Q15560.113,634.6875 15560.8161,635.5938 Q15561.5349,636.5 15561.5349,637.875 Q15561.5349,639.75 15560.4255,640.6719 Q15559.3161,641.5938 15557.0661,641.5938 Q15556.1442,641.5938 15555.2224,641.375 Q15554.3005,641.1563 15553.4411,640.7344 L15553.4411,638.2031 Q15554.4099,638.8906 15555.3317,639.2344 Q15556.2536,639.5781 15557.1442,639.5781 Q15558.0505,639.5781 15558.5505,639.1719 Q15559.0505,638.75 15559.0505,638.0156 Q15559.0505,637.4531 15558.7067,637.0469 Q15558.3786,636.625 15557.7536,636.375 L15556.5505,635.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="15577.5661" y="639.5137">urt_nrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="15211.3161" x2="16030.3161" y1="651.3594" y2="651.3594"/><ellipse cx="15221.3161" cy="679.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="15230.3161" y="682.3745">minLatency : urt_delay_t</text><ellipse cx="15221.3161" cy="691.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="15230.3161" y="695.1792">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15211.3161" x2="15512.3161" y1="665.7617" y2="665.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="15512.3161" y="669.0698">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15729.3161" x2="16030.3161" y1="665.7617" y2="665.7617"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="15211.3161" x2="16030.3161" y1="701.7734" y2="701.7734"/><ellipse cx="15221.3161" cy="712.7734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="15230.3161" y="715.9839">urtNrtSubscriberInit (subscriber : urt_nrtsubscriber_t*) : void</text><ellipse cx="15221.3161" cy="725.5781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="715" x="15230.3161" y="728.7886">urtNrtSubscriberSubscribe (subscriber : urt_nrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="15221.3161" cy="738.3828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="15230.3161" y="741.5933">urtNrtSubscriberFetchNextMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="15221.3161" cy="751.1875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="15230.3161" y="754.3979">urtNrtSubscriberFetchLatestMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="15221.3161" cy="763.9922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="15230.3161" y="767.2026">urtNrtSubscriberUnsubscribe (subscriber : urt_nrtsubscriber_t*) : urt_status_t</text><!--MD5=[5c7929572d87ccc448d875bea5da0fb1]
+class urt_srtsubscriber_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="192.8516" id="urt_srtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1044" x="14130.8161" y="599.8594"/><ellipse cx="14589.5661" cy="615.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M14589.0505,616.4219 Q14587.1911,615.7188 14586.5349,614.9531 Q14585.8942,614.1719 14585.8942,612.8594 Q14585.8942,611.1719 14586.9724,610.2031 Q14588.0505,609.2344 14589.9255,609.2344 Q14590.7849,609.2344 14591.6286,609.4375 Q14592.488,609.625 14593.3317,610.0156 L14593.3317,612.4063 Q14592.5505,611.8438 14591.7224,611.5625 Q14590.9099,611.2656 14590.113,611.2656 Q14589.238,611.2656 14588.7536,611.625 Q14588.2849,611.9844 14588.2849,612.6406 Q14588.2849,613.1563 14588.6286,613.5 Q14588.9724,613.8281 14590.0661,614.2344 L14591.1286,614.6406 Q14592.613,615.1875 14593.3161,616.0938 Q14594.0349,617 14594.0349,618.375 Q14594.0349,620.25 14592.9255,621.1719 Q14591.8161,622.0938 14589.5661,622.0938 Q14588.6442,622.0938 14587.7224,621.875 Q14586.8005,621.6563 14585.9411,621.2344 L14585.9411,618.7031 Q14586.9099,619.3906 14587.8317,619.7344 Q14588.7536,620.0781 14589.6442,620.0781 Q14590.5505,620.0781 14591.0505,619.6719 Q14591.5505,619.25 14591.5505,618.5156 Q14591.5505,617.9531 14591.2067,617.5469 Q14590.8786,617.125 14590.2536,616.875 L14589.0505,616.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="14610.0661" y="620.0137">urt_srtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="14131.8161" x2="15173.8161" y1="631.8594" y2="631.8594"/><ellipse cx="14141.8161" cy="642.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="14150.8161" y="646.0698">usefulnesscb : urt_usefulness_f*</text><ellipse cx="14141.8161" cy="655.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="98" x="14150.8161" y="658.8745">cbparams : void*</text><ellipse cx="14141.8161" cy="685.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="14150.8161" y="688.4839">minLatency : urt_delay_t</text><ellipse cx="14141.8161" cy="698.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="14150.8161" y="701.2886">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="14131.8161" x2="14544.3161" y1="671.8711" y2="671.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="14544.3161" y="675.1792">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="14761.3161" x2="15173.8161" y1="671.8711" y2="671.8711"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="14131.8161" x2="15173.8161" y1="707.8828" y2="707.8828"/><ellipse cx="14141.8161" cy="718.8828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="14150.8161" y="722.0933">urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : void</text><ellipse cx="14141.8161" cy="731.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1018" x="14150.8161" y="734.8979">urtSrtSubscriberSubscribe (subscriber : urt_srtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_usefulness_f*, cbparams : void*) : urt_status_t</text><ellipse cx="14141.8161" cy="744.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="14150.8161" y="747.7026">urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="14141.8161" cy="757.2969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="14150.8161" y="760.5073">urtSrtSubscriberFetchLatestMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="14141.8161" cy="770.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="14150.8161" y="773.312">urtSrtSubscriberCalculateUsefulness (subscriber : urt_srtsubscriber_t*, latency : urt_delay_t) : float</text><ellipse cx="14141.8161" cy="782.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="14150.8161" y="786.1167">urtSrtSubscriberUnsubscribe (subscriber : urt_srtsubscriber_t*) : urt_status_t</text><!--MD5=[17838fb05fe219fd399839979ec8a4a4]
+class urt_frtsubscriber_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="226.4609" id="urt_frtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="974" x="16065.8161" y="583.3594"/><ellipse cx="16491.0661" cy="599.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M16490.5505,599.9219 Q16488.6911,599.2188 16488.0349,598.4531 Q16487.3942,597.6719 16487.3942,596.3594 Q16487.3942,594.6719 16488.4724,593.7031 Q16489.5505,592.7344 16491.4255,592.7344 Q16492.2849,592.7344 16493.1286,592.9375 Q16493.988,593.125 16494.8317,593.5156 L16494.8317,595.9063 Q16494.0505,595.3438 16493.2224,595.0625 Q16492.4099,594.7656 16491.613,594.7656 Q16490.738,594.7656 16490.2536,595.125 Q16489.7849,595.4844 16489.7849,596.1406 Q16489.7849,596.6563 16490.1286,597 Q16490.4724,597.3281 16491.5661,597.7344 L16492.6286,598.1406 Q16494.113,598.6875 16494.8161,599.5938 Q16495.5349,600.5 16495.5349,601.875 Q16495.5349,603.75 16494.4255,604.6719 Q16493.3161,605.5938 16491.0661,605.5938 Q16490.1442,605.5938 16489.2224,605.375 Q16488.3005,605.1563 16487.4411,604.7344 L16487.4411,602.2031 Q16488.4099,602.8906 16489.3317,603.2344 Q16490.2536,603.5781 16491.1442,603.5781 Q16492.0505,603.5781 16492.5505,603.1719 Q16493.0505,602.75 16493.0505,602.0156 Q16493.0505,601.4531 16492.7067,601.0469 Q16492.3786,600.625 16491.7536,600.375 L16490.5505,599.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="16511.5661" y="603.5137">urt_frtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="16066.8161" x2="17038.8161" y1="615.3594" y2="615.3594"/><ellipse cx="16076.8161" cy="643.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="16085.8161" y="646.3745">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16066.8161" x2="16407.3161" y1="629.7617" y2="629.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="16407.3161" y="633.0698">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16698.3161" x2="17038.8161" y1="629.7617" y2="629.7617"/><ellipse cx="16076.8161" cy="672.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="16085.8161" y="675.9839">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16066.8161" x2="16417.3161" y1="659.3711" y2="659.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="16417.3161" y="662.6792">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16688.3161" x2="17038.8161" y1="659.3711" y2="659.3711"/><ellipse cx="16076.8161" cy="702.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="16085.8161" y="705.5933">minLatency : urt_delay_t</text><ellipse cx="16076.8161" cy="715.1875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="16085.8161" y="718.3979">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16066.8161" x2="16298.8161" y1="688.9805" y2="688.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="508" x="16298.8161" y="692.2886">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ||  URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16806.8161" x2="17038.8161" y1="688.9805" y2="688.9805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="16066.8161" x2="17038.8161" y1="724.9922" y2="724.9922"/><ellipse cx="16076.8161" cy="735.9922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="342" x="16085.8161" y="739.2026">urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : void</text><ellipse cx="16076.8161" cy="748.7969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="948" x="16085.8161" y="752.0073">urtFrtSubscriberSubscribe (subscriber : urt_frtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="16076.8161" cy="761.6016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="780" x="16085.8161" y="764.812">urtFrtSubscriberFetchNextMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="16076.8161" cy="774.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="790" x="16085.8161" y="777.6167">urtFrtSubscriberFetchLatestMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="16076.8161" cy="787.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="540" x="16085.8161" y="790.4214">urtFrtSubscriberCalculateValidity (subscriber : urt_frtsubscriber_t*, latency : urt_delay_t) : bool</text><ellipse cx="16076.8161" cy="800.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="441" x="16085.8161" y="803.2261">urtFrtSubscriberUnsubscribe (subscriber : urt_frtsubscriber_t*) : urt_status_t</text><!--MD5=[104dc879e5721421b987fcc467bc3a1d]
+class urt_hrtsubscriber_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="268.875" id="urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1084" x="12993.8161" y="561.8594"/><ellipse cx="13472.0661" cy="577.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M13471.5505,578.4219 Q13469.6911,577.7188 13469.0349,576.9531 Q13468.3942,576.1719 13468.3942,574.8594 Q13468.3942,573.1719 13469.4724,572.2031 Q13470.5505,571.2344 13472.4255,571.2344 Q13473.2849,571.2344 13474.1286,571.4375 Q13474.988,571.625 13475.8317,572.0156 L13475.8317,574.4063 Q13475.0505,573.8438 13474.2224,573.5625 Q13473.4099,573.2656 13472.613,573.2656 Q13471.738,573.2656 13471.2536,573.625 Q13470.7849,573.9844 13470.7849,574.6406 Q13470.7849,575.1563 13471.1286,575.5 Q13471.4724,575.8281 13472.5661,576.2344 L13473.6286,576.6406 Q13475.113,577.1875 13475.8161,578.0938 Q13476.5349,579 13476.5349,580.375 Q13476.5349,582.25 13475.4255,583.1719 Q13474.3161,584.0938 13472.0661,584.0938 Q13471.1442,584.0938 13470.2224,583.875 Q13469.3005,583.6563 13468.4411,583.2344 L13468.4411,580.7031 Q13469.4099,581.3906 13470.3317,581.7344 Q13471.2536,582.0781 13472.1442,582.0781 Q13473.0505,582.0781 13473.5505,581.6719 Q13474.0505,581.25 13474.0505,580.5156 Q13474.0505,579.9531 13473.7067,579.5469 Q13473.3786,579.125 13472.7536,578.875 L13471.5505,578.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="13492.5661" y="582.0137">urt_hrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12994.8161" x2="14076.8161" y1="593.8594" y2="593.8594"/><ellipse cx="13004.8161" cy="604.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="151" x="13013.8161" y="608.0698">next : urt_hrtsubscriber_t*</text><ellipse cx="13004.8161" cy="634.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="13013.8161" y="637.6792">deadlineOffset : urt_delay_t</text><ellipse cx="13004.8161" cy="647.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="13013.8161" y="650.4839">qosDeadlineTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12994.8161" x2="13390.3161" y1="621.0664" y2="621.0664"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="13390.3161" y="624.3745">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13681.3161" x2="14076.8161" y1="621.0664" y2="621.0664"/><ellipse cx="13004.8161" cy="676.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="13013.8161" y="680.0933">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12994.8161" x2="13400.3161" y1="663.4805" y2="663.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="13400.3161" y="666.7886">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13671.3161" x2="14076.8161" y1="663.4805" y2="663.4805"/><ellipse cx="13004.8161" cy="706.4922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="13013.8161" y="709.7026">minLatency : urt_delay_t</text><ellipse cx="13004.8161" cy="719.2969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="13013.8161" y="722.5073">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12994.8161" x2="13283.8161" y1="693.0898" y2="693.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="504" x="13283.8161" y="696.3979">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13787.8161" x2="14076.8161" y1="693.0898" y2="693.0898"/><ellipse cx="13004.8161" cy="748.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="13013.8161" y="752.1167">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12994.8161" x2="13403.3161" y1="735.5039" y2="735.5039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="13403.3161" y="738.812">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13668.3161" x2="14076.8161" y1="735.5039" y2="735.5039"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="12994.8161" x2="14076.8161" y1="758.7109" y2="758.7109"/><ellipse cx="13004.8161" cy="769.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="13013.8161" y="772.9214">urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : void</text><ellipse cx="13004.8161" cy="782.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1058" x="13013.8161" y="785.7261">urtHrtSubscriberSubscribe (subscriber : urt_hrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, rate : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="13004.8161" cy="795.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="13013.8161" y="798.5308">urtHrtSubscriberFetchNextMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="13004.8161" cy="808.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="13013.8161" y="811.3354">urtHrtSubscriberFetchLatestMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="13004.8161" cy="820.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="13013.8161" y="824.1401">urtHrtSubscriberUnsubscribe (subscriber : urt_hrtsubscriber_t*) : urt_status_t</text><!--MD5=[e60e0f8379a14e7a4a292c65add9d735]
+class urt_service_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="269.6797" id="urt_service_t" style="stroke: #A80036; stroke-width: 1.5;" width="596" x="8227.8161" y="561.3594"/><ellipse cx="8482.0661" cy="577.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8481.5505,577.9219 Q8479.6911,577.2188 8479.0349,576.4531 Q8478.3942,575.6719 8478.3942,574.3594 Q8478.3942,572.6719 8479.4724,571.7031 Q8480.5505,570.7344 8482.4255,570.7344 Q8483.2849,570.7344 8484.1286,570.9375 Q8484.988,571.125 8485.8317,571.5156 L8485.8317,573.9063 Q8485.0505,573.3438 8484.2224,573.0625 Q8483.4099,572.7656 8482.613,572.7656 Q8481.738,572.7656 8481.2536,573.125 Q8480.7849,573.4844 8480.7849,574.1406 Q8480.7849,574.6563 8481.1286,575 Q8481.4724,575.3281 8482.5661,575.7344 L8483.6286,576.1406 Q8485.113,576.6875 8485.8161,577.5938 Q8486.5349,578.5 8486.5349,579.875 Q8486.5349,581.75 8485.4255,582.6719 Q8484.3161,583.5938 8482.0661,583.5938 Q8481.1442,583.5938 8480.2224,583.375 Q8479.3005,583.1563 8478.4411,582.7344 L8478.4411,580.2031 Q8479.4099,580.8906 8480.3317,581.2344 Q8481.2536,581.5781 8482.1442,581.5781 Q8483.0505,581.5781 8483.5505,581.1719 Q8484.0505,580.75 8484.0505,580.0156 Q8484.0505,579.4531 8483.7067,579.0469 Q8483.3786,578.625 8482.7536,578.375 L8481.5505,577.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="8502.5661" y="581.5137">urt_service_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8228.8161" x2="8822.8161" y1="593.3594" y2="593.3594"/><ellipse cx="8238.8161" cy="604.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="115" x="8247.8161" y="607.5698">next : urt_service_t*</text><ellipse cx="8238.8161" cy="617.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="105" x="8247.8161" y="620.3745">id : urt_serviceid_t</text><ellipse cx="8238.8161" cy="629.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="8247.8161" y="633.1792">lock : urt_osMutex_t</text><ellipse cx="8238.8161" cy="642.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="236" x="8247.8161" y="645.9839">requestQueue_front : urt_baserequest_t*</text><ellipse cx="8238.8161" cy="655.5781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="8247.8161" y="658.7886">requestQueue_hrtBack : urt_hrtrequest_t*</text><ellipse cx="8238.8161" cy="668.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="256" x="8247.8161" y="671.5933">requestQueue_fsrtBack : urt_baserequest_t*</text><ellipse cx="8238.8161" cy="681.1875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="8247.8161" y="684.3979">requestQueue_back : urt_baserequest_t*</text><ellipse cx="8238.8161" cy="693.9922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="8247.8161" y="697.2026">evtSource : urt_osEventSource_t</text><ellipse cx="8238.8161" cy="706.7969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="8247.8161" y="710.0073">evtListener : urt_osEventListener_t</text><ellipse cx="8238.8161" cy="736.4063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="110" x="8247.8161" y="739.6167">numCalls : uint64_t</text><ellipse cx="8238.8161" cy="749.2109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="8247.8161" y="752.4214">numOwnershipLost : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8228.8161" x2="8429.8161" y1="723.0039" y2="723.0039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="8429.8161" y="726.312">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8621.8161" x2="8822.8161" y1="723.0039" y2="723.0039"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8228.8161" x2="8822.8161" y1="759.0156" y2="759.0156"/><ellipse cx="8238.8161" cy="770.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="412" x="8247.8161" y="773.2261">urtServiceInit (service : urt_service_t*, id : urt_serviceid_t) : urt_status_t</text><ellipse cx="8238.8161" cy="782.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="549" x="8247.8161" y="786.0308">urtServiceDispatch (service : urt_service_t*, payload : void*, bytes : size_t) : urt_baserequest_t*</text><ellipse cx="8238.8161" cy="795.625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="552" x="8247.8161" y="798.8354">urtServiceAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="8238.8161" cy="808.4297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="8247.8161" y="811.6401">urtServiceTryAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="8238.8161" cy="821.2344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="365" x="8247.8161" y="824.4448">urtServiceRespond (request : urt_baserequest_t*) : urt_status_t</text><!--MD5=[7294e1cfaeb111bef046bc5d07a96458]
+class urt_baserequest_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="197.6563" id="urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="224" x="8876.8161" y="597.3594"/><ellipse cx="8927.0661" cy="613.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8926.5505,613.9219 Q8924.6911,613.2188 8924.0349,612.4531 Q8923.3942,611.6719 8923.3942,610.3594 Q8923.3942,608.6719 8924.4724,607.7031 Q8925.5505,606.7344 8927.4255,606.7344 Q8928.2849,606.7344 8929.1286,606.9375 Q8929.988,607.125 8930.8317,607.5156 L8930.8317,609.9063 Q8930.0505,609.3438 8929.2224,609.0625 Q8928.4099,608.7656 8927.613,608.7656 Q8926.738,608.7656 8926.2536,609.125 Q8925.7849,609.4844 8925.7849,610.1406 Q8925.7849,610.6563 8926.1286,611 Q8926.4724,611.3281 8927.5661,611.7344 L8928.6286,612.1406 Q8930.113,612.6875 8930.8161,613.5938 Q8931.5349,614.5 8931.5349,615.875 Q8931.5349,617.75 8930.4255,618.6719 Q8929.3161,619.5938 8927.0661,619.5938 Q8926.1442,619.5938 8925.2224,619.375 Q8924.3005,619.1563 8923.4411,618.7344 L8923.4411,616.2031 Q8924.4099,616.8906 8925.3317,617.2344 Q8926.2536,617.5781 8927.1442,617.5781 Q8928.0505,617.5781 8928.5505,617.1719 Q8929.0505,616.75 8929.0505,616.0156 Q8929.0505,615.4531 8928.7067,615.0469 Q8928.3786,614.625 8927.7536,614.375 L8926.5505,613.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="8947.5661" y="617.5137">urt_baserequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8877.8161" x2="9099.8161" y1="629.3594" y2="629.3594"/><ellipse cx="8887.8161" cy="640.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="147" x="8896.8161" y="643.5698">prev : urt_baserequest_t*</text><ellipse cx="8887.8161" cy="653.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="8896.8161" y="656.3745">next : urt_baserequest_t*</text><ellipse cx="8887.8161" cy="665.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="8896.8161" y="669.1792">lock : urt_osMutex_t</text><ellipse cx="8887.8161" cy="678.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="126" x="8896.8161" y="681.9839">owner : urt_service_t*</text><ellipse cx="8887.8161" cy="691.5781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="8896.8161" y="694.7886">submissionTime : urt_osTime_t</text><ellipse cx="8887.8161" cy="704.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="8896.8161" y="707.5933">payload : void*</text><ellipse cx="8887.8161" cy="717.1875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="8896.8161" y="720.3979">evtSource : urt_osEventSource_t</text><ellipse cx="8887.8161" cy="729.9922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="8896.8161" y="733.2026">evtListener : urt_osEventListener_t</text><ellipse cx="8887.8161" cy="759.6016" fill="none" rx="3" ry="3" style="stroke: #038048; 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stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9452.8161" x2="9518.3161" y1="265.4805" y2="265.4805"/><ellipse cx="8869.3161" cy="308.4922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="8878.3161" y="311.7026">minLatency : urt_delay_t</text><ellipse cx="8869.3161" cy="321.2969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="8878.3161" y="324.5073">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8859.3161" x2="8961.8161" y1="295.0898" y2="295.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="454" x="8961.8161" y="298.3979">URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; 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stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="8878.3161" y="383.7261">urtHrtRequestRelease (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="8869.3161" cy="393.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="635" x="8878.3161" y="396.5308">urtHrtRequestSubmit (request : urt_hrtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t</text><ellipse cx="8869.3161" cy="406.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="8878.3161" y="409.3354">urtHrtRequestRetrieve (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="8869.3161" cy="435.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="428" x="8878.3161" y="438.9448">urtHrtRequestGetMaxJitter (request : urt_hrtrequest_t*) : urt_delay_t* const</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8859.3161" x2="9065.8161" y1="422.332" y2="422.332"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="9065.8161" y="425.6401">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9311.8161" x2="9518.3161" y1="422.332" y2="422.332"/><!--MD5=[e0c5ef58bc626bdfda028ecb031e1681]
+link urt_usefulness_f to urt_delay_t--><path d="M7109.727,1118.4276 C7077.8007,1158.6488 7016.4084,1228.9556 6948.8161,1269.3594 C6840.7867,1333.9349 6699.0473,1370.2492 6606.4926,1388.5737 " fill="none" id="urt_usefulness_f-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6601.5722,1389.5401,6611.1744,1391.7304,6606.4784,1388.5764,6609.6325,1383.8804,6601.5722,1389.5401" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5fff9a13948f7f5b5e6ca18c1c7a9716]
+link urt_nodestage_t to urt_config--><path d="M7477.7867,1167.0078 C7498.6292,1204.4988 7528.8857,1246.0764 7568.8161,1269.3594 C8005.2095,1523.8151 11702.7011,1669.9615 12498.3636,1698.6292 " fill="none" id="urt_nodestage_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12503.5777,1698.8169,12494.7274,1694.4957,12498.5809,1698.637,12494.4396,1702.4905,12503.5777,1698.8169" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7db439499cb1afd557b9be4c8c52b2ba]
+link urt_topicid_t to urt_config--><path d="M6853.6392,1167.308 C6877.6087,1203.2441 6910.1725,1243.3873 6948.8161,1269.3594 C7256.1334,1475.9045 7386.0674,1433.6304 7751.8161,1491.3594 C8700.1248,1641.0384 11780.9856,1691.9464 12498.4991,1701.9172 " fill="none" id="urt_topicid_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12503.7247,1701.9896,12494.7811,1697.865,12498.7252,1701.9201,12494.67,1705.8642,12503.7247,1701.9896" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e851a4e79ca88682282ceaaad2100c63]
+link urt_serviceid_t to urt_config--><path d="M6584.121,1167.1511 C6607.3006,1201.1721 6637.136,1239.8023 6669.8161,1269.3594 C6813.1785,1399.0211 6858.4111,1436.6795 7043.8161,1491.3594 C7579.7611,1649.421 11660.2199,1694.8718 12498.5455,1702.5826 " fill="none" id="urt_serviceid_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12503.7333,1702.6302,12494.7704,1698.5478,12498.7335,1702.5843,12494.697,1706.5475,12503.7333,1702.6302" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[844001065b3bef53527c5dd4ba0c22e5]
+link urt_delay_t to urt_config--><path d="M6601.4589,1444.0132 C6646.8827,1461.9442 6703.2777,1481.3299 6755.8161,1491.3594 C7334.4728,1601.8238 11636.5601,1685.4352 12498.6656,1701.1805 " fill="none" id="urt_delay_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12503.6874,1701.2722,12494.762,1697.1083,12498.6882,1701.1807,12494.6158,1705.1069,12503.6874,1701.2722" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7766572fa0c619a5409829048dc0b6d6]
+link urt_osCondvar_t to urt_osCondvarWaitStatus_t--><path d="M5324.8161,1156.9256 C5324.8161,1217.1874 5324.8161,1303.0674 5324.8161,1356.1772 " fill="none" id="urt_osCondvar_t-&gt;urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="5324.8161,1361.2126,5328.8161,1352.2126,5324.8161,1356.2126,5320.8161,1352.2126,5324.8161,1361.2126" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[9b2507ea88616aeae65e3c4d63560016]
+link urt_osCondvar_t to urt_osMutex_t--><path d="M4969.6794,1087.8594 C4959.8472,1087.8594 4950.0151,1087.8594 4940.1829,1087.8594 " fill="none" id="urt_osCondvar_t-&gt;urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="4935.0412,1087.8594,4944.0412,1091.8594,4940.0412,1087.8594,4944.0412,1083.8594,4935.0412,1087.8594" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[83094e108045c8f9585007cdb3b7cb2e]
+link urt_osTimer_t to urt_osTimerCallback_t--><path d="M4232.8161,1144.0786 C4232.8161,1208.9544 4232.8161,1313.7128 4232.8161,1368.4456 " fill="none" id="urt_osTimer_t-&gt;urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="4232.8161,1373.5831,4236.8161,1364.5831,4232.8161,1368.5831,4228.8161,1364.5831,4232.8161,1373.5831" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8d8c3240b5b2b5edf6544088e583ffa5]
+link urt_osThread_t to urt_osThreadPrio_t--><path d="M3453.6032,1269.676 C3455.0422,1288.6533 3456.4462,1307.1682 3457.7298,1324.0957 " fill="none" id="urt_osThread_t-&gt;urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="3458.1242,1329.2969,3461.4321,1320.0201,3457.746,1324.3112,3453.455,1320.6252,3458.1242,1329.2969" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d7d1d43fd970fb07a484642bc19fcb13]
+link urt_osThread_t to urt_osThreadFunction_t--><path d="M3154.67,1269.4464 C3093.434,1308.4428 3035.2334,1345.5062 2995.3851,1370.8824 " fill="none" id="urt_osThread_t-&gt;urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2991.103,1373.6093,3000.843,1372.1489,2995.3204,1370.9235,2996.5458,1365.401,2991.103,1373.6093" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6564761b32ad7eeb5abb8896c72cfca5]
+link urt_osThread_t to urt_osThreadTerminateSignal_t--><path d="M3600.0905,1269.676 C3631.0999,1304.8533 3660.7084,1338.4414 3682.6008,1363.2764 " fill="none" id="urt_osThread_t-&gt;urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="3686.0472,1367.186,3683.0962,1357.7896,3682.7408,1363.4353,3677.0951,1363.0799,3686.0472,1367.186" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[92ba23225d8de8f8080583fedda5e6f8]
+link urt_osThread_t to urt_osThreadState_t--><path d="M3311.7116,1269.676 C3296.4606,1291.3215 3281.6335,1312.3653 3268.4063,1331.1383 " fill="none" id="urt_osThread_t-&gt;urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="3265.4332,1335.3581,3273.8868,1330.3047,3268.313,1331.2707,3267.347,1325.6969,3265.4332,1335.3581" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[78b286ab2177e5f7b31e6e832d821818]
+link urt_osThread_t to urt_osTime_t--><path d="M3679.0792,906.2838 C3736.9141,875.2789 3800.7617,850.6431 3865.3161,843.3594 C3890.3379,840.5362 5653.2944,840.5362 5678.3161,843.3594 C5782.8322,855.152 5854.1303,972.0707 5887.0425,1039.8633 " fill="none" id="urt_osThread_t-&gt;urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="5889.3458,1044.6574,5889.0538,1034.8128,5887.1805,1040.1505,5881.8428,1038.2773,5889.3458,1044.6574" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[659af6ab57e6a38ebfd5c07c5616787c]
+link urt_osEventListener_t to urt_osEventFlags_t--><path d="M1985.8161,1447.5894 C1985.8161,1509.4523 1985.8161,1621.6002 1985.8161,1674.6054 " fill="none" id="urt_osEventListener_t-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1985.8161,1679.8529,1989.8161,1670.8529,1985.8161,1674.8529,1981.8161,1670.8529,1985.8161,1679.8529" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[eac11679f26c499aa1c571e1f795945d]
+link urt_osEventSource_t to urt_osEventFlags_t--><path d="M1498.5503,1441.3844 C1612.2368,1502.6237 1836.7478,1623.5609 1936.2916,1677.182 " fill="none" id="urt_osEventSource_t-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1940.9363,1679.684,1934.9098,1671.8942,1936.5344,1677.3127,1931.1158,1678.9373,1940.9363,1679.684" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0259cdb10c6c32168d1d17d25519d939]
+link urt_events to urt_osEventSource_t--><path d="M2228.2398,1130.8734 C2047.3626,1192.8297 1716.2225,1306.2559 1542.6968,1365.6941 " fill="none" id="urt_events-&gt;urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1537.8637,1367.3496,1547.6743,1368.2173,1542.5939,1365.7293,1545.0819,1360.649,1537.8637,1367.3496" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0ce043e0e9532fc393f3f8836f5de19a]
+link urt_events to urt_osEventListener_t--><path d="M2303.803,1130.8734 C2234.9195,1190.117 2111.3167,1296.4221 2040.2014,1357.5851 " fill="none" id="urt_events-&gt;urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2036.0148,1361.1858,2045.4465,1358.3497,2039.8056,1357.9254,2040.2299,1352.2845,2036.0148,1361.1858" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[430bebba9cd89d3ba8f63b2078968bca]
+link urt_events to urt_osEventMask_t--><path d="M2392.9568,1130.8734 C2450.7464,1194.3817 2557.747,1311.971 2610.6032,1370.0577 " fill="none" id="urt_events-&gt;urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2614.0053,1373.7965,2610.9066,1364.4478,2610.6402,1370.0984,2604.9896,1369.832,2614.0053,1373.7965" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b1b185abc2161e087cab32ae7fdb2c40]
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+link urt_events to urt_osEventWait_t--><path d="M2353.1366,1130.8734 C2352.2082,1189.6449 2350.548,1294.731 2349.5783,1356.1145 " fill="none" id="urt_events-&gt;urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2349.4982,1361.1858,2353.6399,1352.2501,2349.5772,1356.1864,2345.6409,1352.1237,2349.4982,1361.1858" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ea4c3dac10af85084086a365fe38a187]
+link urt_osTime_t to urt_delay_t--><path d="M5950.7079,1131.1378 C5992.7246,1171.5152 6060.1358,1231.1151 6127.8161,1269.3594 C6219.7113,1321.2868 6335.1127,1358.6496 6415.0976,1380.7233 " fill="none" id="urt_osTime_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6420.3142,1382.1551,6412.6941,1375.9154,6415.4926,1380.8315,6410.5764,1383.63,6420.3142,1382.1551" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5f656ccbf337bb70e2692ec6599b22aa]
+link urt_osCondvar_t to urt_delay_t--><path d="M5444.5424,1156.9129 C5516.1945,1195.4217 5610.2746,1241.1648 5698.8161,1269.3594 C5949.9655,1349.3338 6260.7082,1384.145 6414.8123,1397.3578 " fill="none" id="urt_osCondvar_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6420.2278,1397.8187,6411.5996,1393.0696,6415.2458,1397.3945,6410.9209,1401.0408,6420.2278,1397.8187" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[2da0e339f7ca878d257c4a5336e8cad5]
+link urt_osThread_t to urt_delay_t--><path d="M3829.0564,1264.7877 C3835.3263,1266.4028 3841.5822,1267.9293 3847.8161,1269.3594 C4248.2957,1361.2346 5285.7254,1303.8554 5695.8161,1329.3594 C5956.3293,1345.561 6262.6157,1377.1287 6414.8464,1393.6679 " fill="none" id="urt_osThread_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6420.1964,1394.2499,6411.6819,1389.2998,6415.2257,1393.709,6410.8165,1397.2528,6420.1964,1394.2499" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8bf77663ad208115c32fd5300d37f092]
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+link urt_nrtsubscriber_t to urt_basesubscriber_t--><path d="M15417.7211,773.4449 C15347.3557,797.6711 15267.4115,822.474 15192.8161,839.3594 C14494.7931,997.3639 13636.3817,1061.0836 13311.6639,1080.6604 " fill="none" id="urt_nrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="13311.8957,1087.6589,13291.5151,1081.8595,13311.0639,1073.6836,13311.8957,1087.6589" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6d81edfa5aa102b898ad487ae19b49f9]
+link urt_srtsubscriber_t to urt_basesubscriber_t--><path d="M14289.4023,792.8835 C13972.0095,877.1842 13528.9452,994.8638 13310.8206,1052.7985 " fill="none" id="urt_srtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="13312.5045,1059.5939,13291.3777,1057.9626,13308.9106,1046.063,13312.5045,1059.5939" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f626d284cba98e1d5d5fe914b1fa4188]
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+link urt_hrtsubscriber_t to urt_basesubscriber_t--><path d="M13412.957,831.0915 C13359.9266,889.2466 13299.6163,955.3853 13253.4874,1005.972 " fill="none" id="urt_hrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="13258.6052,1010.7485,13239.9568,1020.8102,13248.2604,1001.3153,13258.6052,1010.7485" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ea2ec5c5272e65289dabade75a749f58]
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+reverse link urt_service_t to urt_osEventListener_t--><path d="M8214.4247,699.1766 C6726.8551,712.9913 413.0623,775.805 342.8161,847.3594 C211.4235,981.199 213.1109,1133.8838 342.8161,1269.3594 C395.8088,1324.7096 1645.1627,1317.1769 1720.8161,1329.3594 C1765.7798,1336.5999 1813.9698,1348.8352 1856.7606,1361.3461 " fill="none" id="urt_service_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8227.6808,699.0536,8221.6439,695.1095,8215.6813,699.165,8221.7182,703.1091,8227.6808,699.0536" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8211.6553" y="711.3973">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1827.5549" y="1350.34">1</text><!--MD5=[33249c42c81fffc5b10022c232aa2b33]
+link urt_service_t to urt_config--><path d="M8819.454,831.3813 C8826.9545,834.1381 8834.417,836.8033 8841.8161,839.3594 C9992.7261,1236.9495 10312.3797,1235.366 11502.8161,1491.3594 C11858.0865,1567.7573 12278.8685,1641.5418 12498.4152,1678.7831 " fill="none" id="urt_service_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12503.5638,1679.656,12495.3591,1674.2077,12498.6342,1678.8201,12494.0218,1682.0951,12503.5638,1679.656" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5471b15d17b5493f5e528354308bf7b4]
+link urt_service_t to urt_status_t--><path d="M8241.3205,831.3655 C8097.1354,899.7879 7929.7899,979.201 7819.9543,1031.3229 " fill="none" id="urt_service_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7815.4202,1033.4745,7825.266,1033.2298,7819.9374,1031.3309,7821.8363,1026.0023,7815.4202,1033.4745" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0a28cfad957140e9467edb4bdc4a4fe6]
 @startuml
 
 title **µRtWare**\nOverview\n
 
+!include ./functions.iuml
+
+/'### ENTITIES ###############################################################'/
+
+!startsub ENTITIES
+
+$module("Configuration") {
+  !includesub config.uml!ENTITIES
+}
+
+$module("Primitives") {
+  !includesub primitives.uml!ENTITIES
+}
+
+$module("OSAL") {
+  !includesub osal.uml!ENTITIES
+}
+
+$module("Middleware") {
+  !includesub urtware.uml!ENTITIES
+}
+
+!endsub
+
+/'### DEPENDENCIES & LAYOUT ##################################################'/
+
+!startsub DEPENDENCIES
+
+!includesub config.uml!DEPENDENCIES
+
+!includesub primitives.uml!DEPENDENCIES
+urt_nodestage_t ..> urt_config
+urt_topicid_t ..> urt_config
+urt_serviceid_t ..> urt_config
+urt_delay_t ..> urt_config
+
+!includesub osal.uml!DEPENDENCIES
+urt_osTime_t ..> urt_delay_t
+urt_osCondvar_t ..> urt_delay_t
+urt_osThread_t ..> urt_delay_t
+urt_osTimer_t ..> urt_delay_t
+urt_events ..> urt_delay_t
+
+!includesub urtware.uml!DEPENDENCIES
+urt_core_t "1" *- - "1" urt_osEventSource_t
+urt_core_t "1" *- - "1" urt_osMutex_t
+urt_core_t "1" *- - "1" urt_status_t
+urt_core_t ..> urt_nodestage_t
+urt_core_t ..> urt_topicid_t
+urt_core_t ..> urt_serviceid_t
+urt_node_t "1" o- - "1" urt_osThread_t
+urt_node_t "1" *- - "1" urt_nodestage_t
+urt_node_t "1" *- - "1" urt_osEventListener_t
+urt_node_t "0..*" o- - "1" urt_osThreadFunction_t
+urt_node_t ..> urt_status_t
+urt_nodeSetupCallback_t ..> urt_osEventMask_t
+urt_nodeLoopCallback_t ..> urt_osEventMask_t
+urt_publisher_t ..> urt_config
+urt_publisher_t ..> urt_status_t
+urt_publisher_t ..> urt_delay_t
+urt_topic_t "1" *- - "1" urt_topicid_t
+urt_topic_t "1" *- - "1" urt_osMutex_t
+urt_topic_t "1" *- - "1" urt_osEventSource_t
+urt_topic_t "1" *- - "1" urt_osCondvar_t
+urt_topic_t ..> urt_config
+urt_topic_t "1" *- - "0,1" urt_osTimer_t
+urt_topic_t ..> urt_status_t
+urt_message_t "1" *- - "1" urt_osTime_t
+urt_message_t ..> urt_config
+urt_message_t ..> urt_status_t
+urt_basesubscriber_t "1" *- - "1" urt_osEventListener_t
+urt_basesubscriber_t "1" *- - "1" urt_osTime_t
+urt_basesubscriber_t ..> urt_config
+urt_basesubscriber_t ..> urt_status_t
+urt_nrtsubscriber_t "1" *- - "0,2" urt_delay_t
+urt_nrtsubscriber_t ..> urt_config
+urt_nrtsubscriber_t ..> urt_status_t
+urt_srtsubscriber_t "1" *- - "0,1" urt_usefulness_f
+urt_srtsubscriber_t "1" *- - "0,2" urt_delay_t
+urt_srtsubscriber_t ..> urt_config
+urt_srtsubscriber_t ..> urt_status_t
+urt_frtsubscriber_t "1" *- - "0..4" urt_delay_t
+urt_frtsubscriber_t ..> urt_config
+urt_frtsubscriber_t ..> urt_status_t
+urt_hrtsubscriber_t "1" *- - "0..5" urt_delay_t
+urt_hrtsubscriber_t "1" *- - "1" urt_osTimer_t
+urt_hrtsubscriber_t ..> urt_config
+urt_hrtsubscriber_t ..> urt_status_t
+urt_baserequest_t "1" *- - "1" urt_osMutex_t
+urt_baserequest_t "1" *- - "1" urt_osTime_t
+urt_baserequest_t "1" *- - "1" urt_osEventSource_t
+urt_baserequest_t "1" *- - "1" urt_osEventListener_t
+urt_nrtrequest_t "1" *- - "0,2" urt_delay_t
+urt_nrtrequest_t ..> urt_config
+urt_nrtrequest_t ..> urt_status_t
+urt_srtrequest_t "1" *- - "0,1" urt_delay_t
+urt_srtrequest_t ..> urt_config
+urt_srtrequest_t ..> urt_status_t
+urt_srtrequest_t ..> urt_usefulness_f
+urt_frtrequest_t "1" *- - "0..4" urt_delay_t
+urt_frtrequest_t ..> urt_config
+urt_frtrequest_t ..> urt_status_t
+urt_hrtrequest_t "1" *- - "0..4" urt_delay_t
+urt_hrtrequest_t "1" *- - "0,1" urt_osTimer_t
+urt_hrtrequest_t ..> urt_config
+urt_hrtrequest_t ..> urt_status_t
+urt_service_t "1" *- - "1" urt_serviceid_t
+urt_service_t "1" *- - "1" urt_osMutex_t
+urt_service_t "1" *- - "1" urt_osEventSource_t
+urt_service_t "1" *- - "1" urt_osEventListener_t
+urt_service_t ..> urt_config
+urt_service_t ..> urt_status_t
+
+!endsub
+
+/'### OUTRO ##################################################################'/
+
+@enduml
+
+@startuml
+
+title **µRtWare**\nOverview\n
 
 
 
@@ -478,15 +600,21 @@ title **µRtWare**\nOverview\n
   __
   + {method} urtCoreInit (void) : void
   + {method} urtCoreGetStatus (void) : urt_status_t
+  + {method} urtCoreGetEventMask (void) : urt_osEventMask_t
+  + {method} urtCoreGetEvtSource (void) : urt_osEventSource_t*
   + {method} urtCoreStartNodes (void) : void
-  + {method} urtCoreSynchronize (node : urt_node_t*) : urt_status_t
+  + {method} urtCoreSynchronizeNodes (node : urt_node_t*) : urt_status_t
   + {method} urtCoreStopNodes (reason : urt_status_t) : urt_status_t
   + {method} urtCoreGetEventSource (void) : urt_osEventSource_t*
   + {method} urtCoreGetMutex (void) : urt_osMutex_t*
+  + {method} urtCoreGetNodes (void) : urt_node_t*
+  + {method} urtCoreAddNode (node : urt_node_t*) : void
   .. URT_CFG_PUBSUB_ENABLED == true ..
   + {method} urtCoreGetTopic (id : urt_topicid_t) : urt_topic_t*
+  + {method} urtCoreAddTopic (topic : urt_topic_t*) : void
   .. URT_CFG_RPC_ENABLED == true ..
-  + {method} urtCoreGetService (id : urt_serviceid_t) : urt_service_t*
+  + {method} urtCoreGetService (service : urt_service_t*) : void
+  + {method} urtCoreAddService (id : urt_serviceid_t) : urt_service_t*
 }
 
   package "node" <<Rectangle>> {
@@ -642,7 +770,7 @@ title **µRtWare**\nOverview\n
   + {field} numMessagesDiscarded : uint64_t
   + {field} numSubscribers : unsigned int
   __
-  + {method} urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t
+  + {method} urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t, mandatoryMessage: urt_message_t*) : urt_status_t
 }
 
 }
@@ -926,13 +1054,11 @@ urt_service_t ..> urt_status_t
 
 @enduml
 
-PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
+PlantUML version 1.2020.15(Sun Jun 28 13:39:45 CEST 2020)
 (GPL source distribution)
 Java Runtime: OpenJDK Runtime Environment
 JVM: OpenJDK 64-Bit Server VM
-Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
-Operating System: Linux
 Default Encoding: UTF-8
-Language: en
-Country: US
+Language: de
+Country: DE
 --></g></svg>
\ No newline at end of file
